Module liba.trajpoly7
hepta polynomial trajectory
Functions
| new (ts, p0, p1[, v0[, v1[, a0[, a1[, j0[, j1]]]]]]) | constructor for hepta polynomial trajectory |
| gen (ctx, ts, p0, p1[, v0[, v1[, a0[, a1[, j0[, j1]]]]]]) | generate for hepta polynomial trajectory |
| pos (ctx, x) | compute position for hepta polynomial trajectory |
| vel (ctx, x) | compute velocity for hepta polynomial trajectory |
| acc (ctx, x) | compute acceleration for hepta polynomial trajectory |
| jer (ctx, x) | compute jerk for hepta polynomial trajectory |
Functions
- new (ts, p0, p1[, v0[, v1[, a0[, a1[, j0[, j1]]]]]])
-
constructor for hepta polynomial trajectory
Parameters:
- ts number difference between final time and initial time
- p0 number initial position
- p1 number final position
- v0 number initial velocity (optional)
- v1 number final velocity (optional)
- a0 number initial acceleration (optional)
- a1 number final acceleration (optional)
- j0 number initial jerk (optional)
- j1 number final jerk (optional)
Returns:
-
a.trajpoly7
hepta polynomial trajectory userdata
- gen (ctx, ts, p0, p1[, v0[, v1[, a0[, a1[, j0[, j1]]]]]])
-
generate for hepta polynomial trajectory
Parameters:
- ctx a.trajpoly7 hepta polynomial trajectory userdata
- ts number difference between final time and initial time
- p0 number initial position
- p1 number final position
- v0 number initial velocity (optional)
- v1 number final velocity (optional)
- a0 number initial acceleration (optional)
- a1 number final acceleration (optional)
- j0 number initial jerk (optional)
- j1 number final jerk (optional)
Returns:
-
a.trajpoly7
hepta polynomial trajectory userdata
- pos (ctx, x)
-
compute position for hepta polynomial trajectory
Parameters:
- ctx a.trajpoly7 hepta polynomial trajectory userdata
- x number difference between current time and initial time
Returns:
-
number
position output
- vel (ctx, x)
-
compute velocity for hepta polynomial trajectory
Parameters:
- ctx a.trajpoly7 hepta polynomial trajectory userdata
- x number difference between current time and initial time
Returns:
-
number
velocity output
- acc (ctx, x)
-
compute acceleration for hepta polynomial trajectory
Parameters:
- ctx a.trajpoly7 hepta polynomial trajectory userdata
- x number difference between current time and initial time
Returns:
-
number
acceleration output
- jer (ctx, x)
-
compute jerk for hepta polynomial trajectory
Parameters:
- ctx a.trajpoly7 hepta polynomial trajectory userdata
- x number difference between current time and initial time
Returns:
-
number
jerk output