Header file for the Step 1 motion profiles. More...
#include "TypeIIRMLMath.h"
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Namespaces | |
| TypeIIRMLMath | |
Enumerations | |
| enum | TypeIIRMLMath::Step1_Profile { TypeIIRMLMath::Step1_Undefined = 0, TypeIIRMLMath::Step1_Profile_PosLinHldNegLin = 1, TypeIIRMLMath::Step1_Profile_PosLinNegLin = 2, TypeIIRMLMath::Step1_Profile_PosTriNegLin = 3, TypeIIRMLMath::Step1_Profile_PosTrapNegLin = 4, TypeIIRMLMath::Step1_Profile_NegLinHldPosLin = 5, TypeIIRMLMath::Step1_Profile_NegLinPosLin = 6, TypeIIRMLMath::Step1_Profile_NegTriPosLin = 7, TypeIIRMLMath::Step1_Profile_NegTrapPosLin = 8 } |
| Enumeration of all possible profiles of Step 1 (A, B, and C). More... | |
Functions | |
| bool | TypeIIRMLMath::IsSolutionForProfile_PosLinHldNegLin_Possible (const double &CurrentPosition, const double &CurrentVelocity, const double &TargetPosition, const double &TargetVelocity, const double &MaxVelocity, const double &MaxAcceleration) |
| Checks whether a valid solution for the PosLinHldNegLin velocity profile would be possible. More... | |
| bool | TypeIIRMLMath::IsSolutionForProfile_PosLinNegLin_Possible (const double &CurrentPosition, const double &CurrentVelocity, const double &TargetPosition, const double &TargetVelocity, const double &MaxVelocity, const double &MaxAcceleration) |
| Checks whether a valid solution for the PosLinNegLin velocity profile would be possible. More... | |
| bool | TypeIIRMLMath::IsSolutionForProfile_PosTrapNegLin_Possible (const double &CurrentPosition, const double &CurrentVelocity, const double &TargetPosition, const double &TargetVelocity, const double &MaxVelocity, const double &MaxAcceleration) |
| Checks whether a valid solution for the PosTrapNegLin velocity profile would be possible. More... | |
| bool | TypeIIRMLMath::IsSolutionForProfile_PosTriNegLin_Possible (const double &CurrentPosition, const double &CurrentVelocity, const double &TargetPosition, const double &TargetVelocity, const double &MaxVelocity, const double &MaxAcceleration) |
| Checks whether a valid solution for the PosTriNegLin velocity profile would be possible. More... | |
| double | TypeIIRMLMath::ProfileStep1NegLinPosLin (const double &CurrentPosition, const double &CurrentVelocity, const double &TargetPosition, const double &TargetVelocity, const double &MaxAcceleration) |
| Calculates the execution time of the NegLinPosLin velocity profile. More... | |
| double | TypeIIRMLMath::ProfileStep1PosLinHldNegLin (const double &CurrentPosition, const double &CurrentVelocity, const double &TargetPosition, const double &TargetVelocity, const double &MaxVelocity, const double &MaxAcceleration) |
| Calculates the execution time of the PosLinHldNegLin velocity profile. More... | |
| double | TypeIIRMLMath::ProfileStep1PosLinNegLin (const double &CurrentPosition, const double &CurrentVelocity, const double &TargetPosition, const double &TargetVelocity, const double &MaxAcceleration) |
| Calculates the execution time of the PosLinNegLin velocity profile. More... | |
| double | TypeIIRMLMath::ProfileStep1PosTrapNegLin (const double &CurrentPosition, const double &CurrentVelocity, const double &TargetPosition, const double &TargetVelocity, const double &MaxVelocity, const double &MaxAcceleration) |
| Calculates the execution time of the PosTrapNegLin velocity profile. More... | |
| double | TypeIIRMLMath::ProfileStep1PosTriNegLin (const double &CurrentPosition, const double &CurrentVelocity, const double &TargetPosition, const double &TargetVelocity, const double &MaxAcceleration) |
| Calculates the execution time of the PosTriNegLin velocity profile. More... | |
Detailed Description
Header file for the Step 1 motion profiles.
Header file for the enumeration of all possible Step 1 motion profiles used for within in the library of the Type II On-Line Trajectory Generation algorithm. Further more, this file contains all calculation functions of the Step 1 motion profiles, that is, the leaves of the Step 1 decision trees 1A, 1B, and 1C. These functions calculate the minimum or maximum trajectory execution time for a specific motion profile.
The enumeration as well as all profile functions are part of the namespace TypeIIRMLMath.
- Date
- March 2014
- Version
- 1.2.6
- Copyright
- Copyright (C) 2014 Google, Inc.
GNU Lesser General Public License
This file is part of the Type II Reflexxes Motion Library.
The Type II Reflexxes Motion Library is free software: you can redistribute it and/or modify it under the terms of the GNU Lesser General Public License as published by the Free Software Foundation, either version 3 of the License, or (at your option) any later version.
The Type II Reflexxes Motion Library is distributed in the hope that it will be useful, but WITHOUT ANY WARRANTY; without even the implied warranty of MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the GNU Lesser General Public License for more details.
You should have received a copy of the GNU Lesser General Public License along with the Type II Reflexxes Motion Library. If not, see http://www.gnu.org/licenses/.
Definition in file TypeIIRMLStep1Profiles.h.