Struct liba::trajbell

#[repr(C)]
pub struct trajbell {

    pub t: float,
    pub tv: float,
    pub ta: float,
    pub td: float,
    pub taj: float,
    pub tdj: float,
    pub p0: float,
    pub p1: float,
    pub v0: float,
    pub v1: float,
    pub vm: float,
    pub jm: float,
    pub am: float,
    pub dm: float,
}

bell-shaped velocity trajectory

Fields

t: float

total duration

tv: float

constant velocity phase

ta: float

acceleration phase

td: float

deceleration phase

taj: float

time-interval in which the jerk is constant (j max or j min ) during the acceleration phase

tdj: float

time-interval in which the jerk is constant (j max or j min ) during the deceleration phase

p0: float

initial position

p1: float

final position

v0: float

initial velocity

v1: float

final velocity

vm: float

maximum velocity

jm: float

maximum jerk

am: float

maximum acceleration

dm: float

maximum deceleration

Implementations

impl trajbell

pub fn new() -> Self

initialize for bell-shaped velocity trajectory

pub fn gen( &mut self, jm: float, am: float, vm: float, p0: float, p1: float, v0: float, v1: float ) -> float

generate for bell-shaped velocity trajectory

pub fn pos(&mut self, x: float) -> float

calculate position for bell-shaped velocity trajectory

pub fn vel(&mut self, x: float) -> float

calculate velocity for bell-shaped velocity trajectory

pub fn acc(&mut self, x: float) -> float

calculate acceleration for bell-shaped velocity trajectory

pub fn jer(&mut self, x: float) -> float

calculate jerk for bell-shaped velocity trajectory

Trait Implementations

impl Default for trajbell

fn default() -> Self

Returns the “default value” for a type.