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: 06_RMLVelocitySampleApplication.cpp \n\n");
100 printf(
"This example demonstrates the most basic use of the \n" );
101 printf(
"Reflexxes API (class ReflexxesAPI) using the velocity- \n" );
102 printf(
"based Type II Online Trajectory Generation algorithm. \n\n");
103 printf(
"Copyright (C) 2014 Google, Inc. \n" );
104 printf(
"-------------------------------------------------------\n" );
169 printf(
"An error occurred (%d).\n", ResultValue );
Header file for the class ReflexxesAPI (API of the Reflexxes Motion Libraries)
RMLDoubleVector * NewAccelerationVector
A pointer to the new acceleration vector .
Data structure containing flags to parameterize the execution of the velocity-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 .
Header file for the class RMLVelocityFlags.
unsigned char SynchronizationBehavior
This value specifies the desired synchronization behavior.
Header file for the class RMLVelocityOutputParameters.
Class for the output parameters of the velocity-based On-Line Trajectory Generation algorithm...
#define CYCLE_TIME_IN_SECONDS
int RMLVelocity(const RMLVelocityInputParameters &InputValues, RMLVelocityOutputParameters *OutputValues, const RMLVelocityFlags &Flags)
This is the method for velocity-based On-Line Trajectory Generation.
Even if it is possible to calculate a phase-synchronized trajectory, only a time-synchronized traject...
This class constitutes the API of the Reflexxes Motion Libraries
RMLDoubleVector * NewVelocityVector
A pointer to the new velocity vector .