17 #ifndef ROBOTIS_MATH_MINIMUM_JERK_TRAJECTORY_H_ 18 #define ROBOTIS_MATH_MINIMUM_JERK_TRAJECTORY_H_ 20 #define EIGEN_NO_DEBUG 21 #define EIGEN_NO_STATIC_ASSERT 37 std::vector<double_t> ini_pos, std::vector<double_t> ini_vel, std::vector<double_t> ini_acc,
38 std::vector<double_t> fin_pos, std::vector<double_t> fin_vel, std::vector<double_t> fin_acc);
MinimumJerk(double ini_time, double fin_time, std::vector< double_t > ini_pos, std::vector< double_t > ini_vel, std::vector< double_t > ini_acc, std::vector< double_t > fin_pos, std::vector< double_t > fin_vel, std::vector< double_t > fin_acc)
std::vector< double_t > ini_pos_
std::vector< double_t > getAcceleration(double time)
std::vector< double_t > cur_pos_
std::vector< double_t > cur_vel_
Eigen::MatrixXd position_coeff_
std::vector< double_t > getPosition(double time)
std::vector< double_t > fin_vel_
Eigen::MatrixXd time_variables_
Eigen::MatrixXd acceleration_coeff_
std::vector< double_t > cur_acc_
std::vector< double_t > fin_pos_
std::vector< double_t > fin_acc_
Eigen::MatrixXd velocity_coeff_
std::vector< double_t > getVelocity(double time)
std::vector< double_t > ini_acc_
std::vector< double_t > ini_vel_