53 #define CYCLE_TIME_IN_SECONDS 0.001 54 #define NUMBER_OF_DOFS 2 72 bool IntermediateTargetStateSet = false
73 , IntermediateStateReached = false ;
102 printf(
"-------------------------------------------------------\n" );
103 printf(
"Reflexxes Motion Libraries \n" );
104 printf(
"Example: 03_RMLPositionSampleApplication \n\n");
105 printf(
"This example demonstrates how to set-up the \n" );
106 printf(
"generation of time- and phase-synchronized motion \n" );
107 printf(
"trajectories using the position-based Online \n" );
108 printf(
"Trajectory Generation algorithm of the Type II \n" );
109 printf(
"Reflexxes Motion Library. \n\n");
110 printf(
"Copyright (C) 2014 Google, Inc. \n" );
111 printf(
"-------------------------------------------------------\n" );
186 printf(
"An error occurred (%d).\n", ResultValue );
224 && ( !IntermediateTargetStateSet ) )
241 && ( !IntermediateStateReached ) )
243 IntermediateStateReached =
true;
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...
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 .
unsigned char SynchronizationBehavior
This value specifies the desired synchronization behavior.
int RMLPosition(const RMLPositionInputParameters &InputValues, RMLPositionOutputParameters *OutputValues, const RMLPositionFlags &Flags)
This is the central method of each Reflexxes Type Motion Library.
Even if it is possible to calculate a phase-synchronized trajectory, only a time-synchronized traject...
#define CYCLE_TIME_IN_SECONDS
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 .