TypeIIRMLStep1Profiles.h
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1 // ---------------------- Doxygen info ----------------------
46 // ----------------------------------------------------------
47 // For a convenient reading of this file's source code,
48 // please use a tab width of four characters.
49 // ----------------------------------------------------------
50 
51 
52 #ifndef __TypeIIRMLStep1Profiles__
53 #define __TypeIIRMLStep1Profiles__
54 
55 
56 #include "TypeIIRMLMath.h"
57 
58 
59 namespace TypeIIRMLMath
60 {
61 // ---------------------- Doxygen info ----------------------
70 // ----------------------------------------------------------
71 enum Step1_Profile
72 {
74  Step1_Undefined = 0,
76  Step1_Profile_PosLinHldNegLin = 1,
78  Step1_Profile_PosLinNegLin = 2,
80  Step1_Profile_PosTriNegLin = 3,
82  Step1_Profile_PosTrapNegLin = 4,
84  Step1_Profile_NegLinHldPosLin = 5,
86  Step1_Profile_NegLinPosLin = 6,
88  Step1_Profile_NegTriPosLin = 7,
90  Step1_Profile_NegTrapPosLin = 8
91 };
92 
93 
94 // ---------------------- Doxygen info ----------------------
130 // ----------------------------------------------------------
131 double ProfileStep1PosLinHldNegLin( const double &CurrentPosition
132  , const double &CurrentVelocity
133  , const double &TargetPosition
134  , const double &TargetVelocity
135  , const double &MaxVelocity
136  , const double &MaxAcceleration );
137 
138 
139 // ---------------------- Doxygen info ----------------------
171 // ----------------------------------------------------------
172 double ProfileStep1PosLinNegLin( const double &CurrentPosition
173  , const double &CurrentVelocity
174  , const double &TargetPosition
175  , const double &TargetVelocity
176  , const double &MaxAcceleration );
177 
178 
179 // ---------------------- Doxygen info ----------------------
211 // ----------------------------------------------------------
212 double ProfileStep1PosTriNegLin( const double &CurrentPosition
213  , const double &CurrentVelocity
214  , const double &TargetPosition
215  , const double &TargetVelocity
216  , const double &MaxAcceleration );
217 
218 
219 // ---------------------- Doxygen info ----------------------
255 // ----------------------------------------------------------
256 double ProfileStep1PosTrapNegLin( const double &CurrentPosition
257  , const double &CurrentVelocity
258  , const double &TargetPosition
259  , const double &TargetVelocity
260  , const double &MaxVelocity
261  , const double &MaxAcceleration );
262 
263 
264 // ---------------------- Doxygen info ----------------------
296 // ----------------------------------------------------------
297 double ProfileStep1NegLinPosLin( const double &CurrentPosition
298  , const double &CurrentVelocity
299  , const double &TargetPosition
300  , const double &TargetVelocity
301  , const double &MaxAcceleration );
302 
303 
304 // ---------------------- Doxygen info ----------------------
340 // ----------------------------------------------------------
341 bool IsSolutionForProfile_PosLinHldNegLin_Possible( const double &CurrentPosition
342  , const double &CurrentVelocity
343  , const double &TargetPosition
344  , const double &TargetVelocity
345  , const double &MaxVelocity
346  , const double &MaxAcceleration );
347 
348 
349 // ---------------------- Doxygen info ----------------------
385 // ----------------------------------------------------------
386 bool IsSolutionForProfile_PosLinNegLin_Possible( const double &CurrentPosition
387  , const double &CurrentVelocity
388  , const double &TargetPosition
389  , const double &TargetVelocity
390  , const double &MaxVelocity
391  , const double &MaxAcceleration );
392 
393 
394 // ---------------------- Doxygen info ----------------------
430 // ----------------------------------------------------------
431 bool IsSolutionForProfile_PosTriNegLin_Possible( const double &CurrentPosition
432  , const double &CurrentVelocity
433  , const double &TargetPosition
434  , const double &TargetVelocity
435  , const double &MaxVelocity
436  , const double &MaxAcceleration );
437 
438 
439 // ---------------------- Doxygen info ----------------------
475 // ----------------------------------------------------------
476 bool IsSolutionForProfile_PosTrapNegLin_Possible( const double &CurrentPosition
477  , const double &CurrentVelocity
478  , const double &TargetPosition
479  , const double &TargetVelocity
480  , const double &MaxVelocity
481  , const double &MaxAcceleration );
482 
483 } // namespace TypeIIRMLMath
484 
485 #endif
486 
TypeIIRMLMath::Step1_Undefined
The profile is undefined.
Definition: TypeIIRMLStep1Profiles.h:74
TypeIIRMLMath::ProfileStep1PosTriNegLin
double 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.
Definition: TypeIIRMLStep1Profiles.cpp:91
TypeIIRMLMath::IsSolutionForProfile_PosLinNegLin_Possible
bool 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.
Definition: TypeIIRMLStep1Profiles.cpp:180
TypeIIRMLMath.h
Header file for functions and definitions of constant values and macros.
TypeIIRMLMath::ProfileStep1NegLinPosLin
double 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.
Definition: TypeIIRMLStep1Profiles.cpp:126
TypeIIRMLMath::ProfileStep1PosLinHldNegLin
double 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.
Definition: TypeIIRMLStep1Profiles.cpp:54
TypeIIRMLMath::IsSolutionForProfile_PosTriNegLin_Possible
bool 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.
Definition: TypeIIRMLStep1Profiles.cpp:254
TypeIIRMLMath::ProfileStep1PosTrapNegLin
double 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.
Definition: TypeIIRMLStep1Profiles.cpp:109
TypeIIRMLMath::IsSolutionForProfile_PosLinHldNegLin_Possible
bool 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...
Definition: TypeIIRMLStep1Profiles.cpp:144
TypeIIRMLMath::IsSolutionForProfile_PosTrapNegLin_Possible
bool 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.
Definition: TypeIIRMLStep1Profiles.cpp:327
TypeIIRMLMath::ProfileStep1PosLinNegLin
double 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.
Definition: TypeIIRMLStep1Profiles.cpp:73
TypeIIRMLMath::Step1_Profile
Step1_Profile
Enumeration of all possible profiles of Step 1 (A, B, and C).
Definition: TypeIIRMLStep1Profiles.h:71

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autogenerated on Sat Nov 21 2020 03:17:34