53 #define CYCLE_TIME_IN_SECONDS 0.001 54 #define NUMBER_OF_DOFS 3 97 printf(
"-------------------------------------------------------\n" );
98 printf(
"Reflexxes Motion Libraries \n" );
99 printf(
"Example: 01_RMLPositionSampleApplication \n\n");
100 printf(
"This example demonstrates the most basic use of the \n" );
101 printf(
"Reflexxes API (class ReflexxesAPI) using the position- \n" );
102 printf(
"based Type II Online Trajectory Generation algorithm. \n\n");
103 printf(
"Copyright (C) 2014 Google, Inc. \n" );
104 printf(
"-------------------------------------------------------\n" );
175 printf(
"An error occurred (%d).\n", ResultValue );
Header file for the class RMLPositionOutputParameters.
Header file for the class ReflexxesAPI (API of the Reflexxes Motion Libraries)
Header file for the class RMLPositionFlags.
RMLDoubleVector * NewAccelerationVector
A pointer to the new acceleration vector .
Data structure containing flags to parameterize the execution of the position-based On-Line Trajector...
#define CYCLE_TIME_IN_SECONDS
T * VecData
Pointer to the actual vector data, that is, an array of type T objects.
RMLDoubleVector * NewPositionVector
A pointer to the new position vector .
int RMLPosition(const RMLPositionInputParameters &InputValues, RMLPositionOutputParameters *OutputValues, const RMLPositionFlags &Flags)
This is the central method of each Reflexxes Type Motion Library.
This class constitutes the API of the Reflexxes Motion Libraries
Class for the output parameters of the position-based On-Line Trajectory Generation algorithm...
RMLDoubleVector * NewVelocityVector
A pointer to the new velocity vector .