Public Member Functions
double	a (double t) const
bool	calculateMaxVel ()
	Helper function to calculate the max velocity ____________ /\| v1 \| \ ./ \| \| \.
void	calculateTimeHelper ()
	Helper function to calculate times (t1, t2, t3)
double	duration (double vmax_in, double amax_in, bool spline=true)
	Calculate the minimum duration trajectory given the constraints and max velocity and acceleration.
void	getTimes (double &t1_out, double &t2_out, double &t3_out) const
	Get the times of the trajectory profile ____________ /\| \| \ ./ \| \| \. t1 t2 t3.
double	p (double t) const
void	setConstraints (double posInit_in, double posFinal_in, double velInit_in=0., double velFinal_in=0., double accelInit_in=0., double accelFinal_in=0.)
void	setDuration (double duration_in)
	Set the trajectory duration to a specific value.
void	setDurationHelper (double duration_in)
	Helper calculation for setting the duration.
void	setTimes (double t1_in, double t2_in, double t3_in)
	set the times for the trajectory profile ____________ /\| \| \ ./ \| \| \. t1 t2 t3
bool	timesValid ()
	Function to tell whether times calculated are valid.
	TrapezoidalVelocityUtility ()
double	v (double t) const
	~TrapezoidalVelocityUtility ()
Private Attributes
double	a1
double	a2
double	accelFinal
double	accelInit
double	accelMax
double	posFinal
double	posInit
double	t1
double	t2
double	t3
double	timeMin
double	v1
double	velFinal
double	velInit
double	velMax

Detailed Description

Constructor & Destructor Documentation

TrapezoidalVelocityUtility::TrapezoidalVelocityUtility ( )

TrapezoidalVelocityUtility::~TrapezoidalVelocityUtility ( )

double TrapezoidalVelocityUtility::a ( double t ) const

bool TrapezoidalVelocityUtility::calculateMaxVel ( )

Helper function to calculate the max velocity ____________ /| v1 | \ ./ | | \.

If an acceleration is zero, throw (protect from divide by zero)

void TrapezoidalVelocityUtility::calculateTimeHelper ( )

Helper function to calculate times (t1, t2, t3)

if accelerations are zero, throw (protect from divide by zero)

double TrapezoidalVelocityUtility::duration	(	double	vmax_in,
		double	amax_in,
		bool	spline = `true`
	)

Calculate the minimum duration trajectory given the constraints and max velocity and acceleration.

Exceptions:

std::runtime_error if trajectory calculation fails

if no movement required, set times equal to zero

if movement needed but no movement allowed by velocity, throw

if max acceleration 0, no movement possible, throw

final velocity too high, throw

If initial velocity above max, set the max velocity to initial

If moving in a positive direction, set velocity and first acceleration to positive

otherwise set velocity and first acceleration to negative

void TrapezoidalVelocityUtility::getTimes	(	double &	t1_out,
		double &	t2_out,
		double &	t3_out
	)		const

Get the times of the trajectory profile ____________ /| | \ ./ | | \. t1 t2 t3.

double TrapezoidalVelocityUtility::p ( double t ) const

get (p)osition, (v)elocity, and (a)cceleration at time t on the trajectory 0 <= t <= 1

void TrapezoidalVelocityUtility::setConstraints	(	double	posInit_in,
		double	posFinal_in,
		double	velInit_in = `0.`,
		double	velFinal_in = `0.`,
		double	accelInit_in = `0.`,
		double	accelFinal_in = `0.`
	)