24 #ifndef ROBOTIS_MATH_TRAPEZOIDAL_VELOCITY_PROFILE_H_ 25 #define ROBOTIS_MATH_TRAPEZOIDAL_VELOCITY_PROFILE_H_ 27 #define EIGEN_NO_DEBUG 28 #define EIGEN_NO_STATIC_ASSERT 42 void setVelocityBaseTrajectory(
double init_pos,
double final_pos,
double acceleration,
double deceleration,
double max_velocity);
44 void setTimeBaseTrajectory(
double init_pos,
double final_pos,
double accel_time,
double decel_time,
double total_time);
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 getDecelerationSectionStartTime()
Eigen::MatrixXd vel_coeff_const_section_
double getConstantVelocitySectionStartTime()