82 double pos_diff = final_pos - init_pos;
83 double acc_time = fabs(max_velocity / acceleration);
84 double dec_time = fabs(max_velocity / deceleration);
93 if(fabs(pos_diff) > 0.5 * fabs(
max_velocity_) * ( acc_time + dec_time ))
153 if((fabs(accel_time) + fabs(decel_time)) <=
total_time_)
161 double time_gain =
total_time_ / (fabs(accel_time) + fabs(decel_time));
170 double pos_diff = final_pos - init_pos;
Eigen::MatrixXd pos_coeff_accel_section_
Eigen::MatrixXd pos_coeff_const_section_
SimpleTrapezoidalVelocityProfile()
void setTime(double time)
Eigen::MatrixXd pos_coeff_decel_section_
Eigen::MatrixXd vel_coeff_accel_section_
void setTimeBaseTrajectory(double init_pos, double final_pos, double accel_time, double total_time)
void setVelocityBaseTrajectory(double init_pos, double final_pos, double acceleration, double max_velocity)
Eigen::MatrixXd vel_coeff_decel_section_
~SimpleTrapezoidalVelocityProfile()
Eigen::MatrixXd time_variables_
double powDI(double a, int b)
double getDecelerationSectionStartTime()
Eigen::MatrixXd vel_coeff_const_section_
double getConstantVelocitySectionStartTime()