Class a.trajtrap
trapezoidal velocity trajectory
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a.trajtrap
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trapezoidal velocity trajectory
Fields:
- t
total duration
- p0
initial position
- p1
final position
- v0
initial velocity
- v1
final velocity
- vc
constant velocity
- ta
time before constant velocity
- td
time after constant velocity
- pa
position before constant velocity
- pd
position after constant velocity
- ac
acceleration before constant velocity
- de
acceleration after constant velocity
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a.trajtrap:new ()
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constructor for trapezoidal velocity trajectory
Returns:
a.trajtrap
trapezoidal velocity trajectory userdata
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a.trajtrap:gen (vm, ac, de, p0, p1[, v0[, v1]])
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generate for trapezoidal velocity trajectory
Parameters:
- vm
number
defines the maximum velocity during system operation
- ac
number
defines the acceleration before constant velocity
- de
number
defines the acceleration after constant velocity
- p0
number
defines the initial position
- p1
number
defines the final position
- v0
number
defines the initial velocity
(optional)
- v1
number
defines the final velocity
(optional)
Returns:
number
total duration
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a.trajtrap:pos (x)
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calculate position for trapezoidal velocity trajectory
Parameters:
- x
number
difference between current time and initial time
Returns:
number
position output
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a.trajtrap:vel (x)
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calculate velocity for trapezoidal velocity trajectory
Parameters:
- x
number
difference between current time and initial time
Returns:
number
velocity output
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a.trajtrap:acc (x)
-
calculate acceleration for trapezoidal velocity trajectory
Parameters:
- x
number
difference between current time and initial time
Returns:
number
acceleration output