include/TypeIIRMLStep1Profiles.h File Reference

Header file for the Step 1 motion profiles. More...

#include <TypeIIRMLMath.h>

Go to the source code of this file.

Namespaces
namespace	TypeIIRMLMath
Enumerations
enum	TypeIIRMLMath::Step1_Profile {   TypeIIRMLMath::Step1_Undefined = 0, TypeIIRMLMath::Step1_Profile_PosLinHldNegLin = 1, TypeIIRMLMath::Step1_Profile_PosLinNegLin = 2, TypeIIRMLMath::Step1_Profile_PosTriNegLin = 3,   TypeIIRMLMath::Step1_Profile_PosTrapNegLin = 4, TypeIIRMLMath::Step1_Profile_NegLinHldPosLin = 5, TypeIIRMLMath::Step1_Profile_NegLinPosLin = 6, TypeIIRMLMath::Step1_Profile_NegTriPosLin = 7,   TypeIIRMLMath::Step1_Profile_NegTrapPosLin = 8 }
	Enumeration of all possible profiles of Step 1 (A, B, and C). More...
Functions
double	TypeIIRMLMath::ProfileStep1PosLinHldNegLin (const double &CurrentPosition, const double &CurrentVelocity, const double &TargetPosition, const double &TargetVelocity, const double &MaxVelocity, const double &MaxAcceleration)
	Calculates the execution time of the PosLinHldNegLin velocity profile.
double	TypeIIRMLMath::ProfileStep1PosLinNegLin (const double &CurrentPosition, const double &CurrentVelocity, const double &TargetPosition, const double &TargetVelocity, const double &MaxAcceleration)
	Calculates the execution time of the PosLinNegLin velocity profile.
double	TypeIIRMLMath::ProfileStep1PosTriNegLin (const double &CurrentPosition, const double &CurrentVelocity, const double &TargetPosition, const double &TargetVelocity, const double &MaxAcceleration)
	Calculates the execution time of the PosTriNegLin velocity profile.
double	TypeIIRMLMath::ProfileStep1PosTrapNegLin (const double &CurrentPosition, const double &CurrentVelocity, const double &TargetPosition, const double &TargetVelocity, const double &MaxVelocity, const double &MaxAcceleration)
	Calculates the execution time of the PosTrapNegLin velocity profile.
double	TypeIIRMLMath::ProfileStep1NegLinPosLin (const double &CurrentPosition, const double &CurrentVelocity, const double &TargetPosition, const double &TargetVelocity, const double &MaxAcceleration)
	Calculates the execution time of the NegLinPosLin velocity profile.
bool	TypeIIRMLMath::IsSolutionForProfile_PosLinHldNegLin_Possible (const double &CurrentPosition, const double &CurrentVelocity, const double &TargetPosition, const double &TargetVelocity, const double &MaxVelocity, const double &MaxAcceleration)
	Checks whether a valid solution for the PosLinHldNegLin velocity profile would be possible.
bool	TypeIIRMLMath::IsSolutionForProfile_PosLinNegLin_Possible (const double &CurrentPosition, const double &CurrentVelocity, const double &TargetPosition, const double &TargetVelocity, const double &MaxVelocity, const double &MaxAcceleration)
	Checks whether a valid solution for the PosLinNegLin velocity profile would be possible.
bool	TypeIIRMLMath::IsSolutionForProfile_PosTriNegLin_Possible (const double &CurrentPosition, const double &CurrentVelocity, const double &TargetPosition, const double &TargetVelocity, const double &MaxVelocity, const double &MaxAcceleration)
	Checks whether a valid solution for the PosTriNegLin velocity profile would be possible.
bool	TypeIIRMLMath::IsSolutionForProfile_PosTrapNegLin_Possible (const double &CurrentPosition, const double &CurrentVelocity, const double &TargetPosition, const double &TargetVelocity, const double &MaxVelocity, const double &MaxAcceleration)
	Checks whether a valid solution for the PosTrapNegLin velocity profile would be possible.

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Detailed Description

Header file for the Step 1 motion profiles.

Header file for the enumeration of all possible Step 1 motion profiles used for within in the library of the Type II On-Line Trajectory Generation algorithm. Further more, this file contains all calculation functions of the Step 1 motion profiles, that is, the leaves of the Step 1 decision trees 1A, 1B, and 1C. These functions calculate the minimum or maximum trajectory execution time for a specific motion profile.

The enumeration as well as all profile functions are part of the namespace TypeIIRMLMath.

Date:

March 2014

Version:

1.2.6

Author:

Torsten Kroeger, <info@reflexxes.com>

Copyright:

Copyright (C) 2014 Google, Inc.

GNU Lesser General Public License

This file is part of the Type II Reflexxes Motion Library.

The Type II Reflexxes Motion Library is free software: you can redistribute it and/or modify it under the terms of the GNU Lesser General Public License as published by the Free Software Foundation, either version 3 of the License, or (at your option) any later version.

The Type II Reflexxes Motion Library is distributed in the hope that it will be useful, but WITHOUT ANY WARRANTY; without even the implied warranty of MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the GNU Lesser General Public License for more details.

You should have received a copy of the GNU Lesser General Public License along with the Type II Reflexxes Motion Library. If not, see <http://www.gnu.org/licenses/>.