Struct liba::trajpoly7

#[repr(C)]
pub struct trajpoly7 {
    pub p: [float; 8],
    pub v: [float; 7],
    pub a: [float; 6],
    pub j: [float; 5],
}

hepta polynomial trajectory

Fields

p: [float; 8]

coefficients of position

v: [float; 7]

coefficients of velocity

a: [float; 6]

coefficients of acceleration

j: [float; 5]

coefficients of jerk

Implementations

impl trajpoly7

pub fn new( ts: float, p0: float, p1: float, v0: float, v1: float, a0: float, a1: float, j0: float, j1: float ) -> Self

initialize for hepta polynomial trajectory

pub fn gen( &mut self, ts: float, p0: float, p1: float, v0: float, v1: float, a0: float, a1: float, j0: float, j1: float ) -> &mut Self

generate for hepta polynomial trajectory

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

calculate position for hepta polynomial trajectory

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

calculate velocity for hepta polynomial trajectory

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

calculate acceleration for hepta polynomial trajectory

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

calculate jerk for hepta polynomial trajectory