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Reflexxes Motion Libraries
Manual and Documentation (Type II, Version 1.2.6)
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Reflexxes Motion Libraries
Manual and Documentation (Type II, Version 1.2.6)
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00001 // ---------------------- Doxygen info ---------------------- 00045 // ---------------------------------------------------------- 00046 // For a convenient reading of this file's source code, 00047 // please use a tab width of four characters. 00048 // ---------------------------------------------------------- 00049 00050 00051 #ifndef __TypeIIRMLStep2Profiles__ 00052 #define __TypeIIRMLStep2Profiles__ 00053 00054 00055 #include <TypeIIRMLPolynomial.h> 00056 #include <TypeIIRMLMath.h> 00057 00058 00059 namespace TypeIIRMLMath 00060 { 00061 // ---------------------- Doxygen info ---------------------- 00068 // ---------------------------------------------------------- 00069 enum Step2_Profile 00070 { 00072 Step2_Undefined = 0, 00074 Step2_Profile_PosLinHldNegLin = 1, 00076 Step2_Profile_PosLinHldPosLin = 2, 00078 Step2_Profile_NegLinHldPosLin = 3, 00080 Step2_Profile_NegLinHldNegLin = 4, 00082 Step2_Profile_PosTrapNegLin = 5, 00084 Step2_Profile_NegLinHldNegLinNegLin = 6, 00085 }; 00086 00087 00088 // ---------------------- Doxygen info ---------------------- 00136 // ---------------------------------------------------------- 00137 void ProfileStep2PosLinHldNegLin( const double &CurrentTime 00138 , const double &SynchronizationTime 00139 , const double &CurrentPosition 00140 , const double &CurrentVelocity 00141 , const double &TargetPosition 00142 , const double &TargetVelocity 00143 , const double &MaxAcceleration 00144 , MotionPolynomials *PolynomialsLocal 00145 , const bool &Inverted ); 00146 00147 00148 // ---------------------- Doxygen info ---------------------- 00156 // ---------------------------------------------------------- 00157 void ProfileStep2PosLinHldPosLin( const double &CurrentTime 00158 , const double &SynchronizationTime 00159 , const double &CurrentPosition 00160 , const double &CurrentVelocity 00161 , const double &TargetPosition 00162 , const double &TargetVelocity 00163 , const double &MaxAcceleration 00164 , MotionPolynomials *PolynomialsLocal 00165 , const bool &Inverted ); 00166 00167 00168 // ---------------------- Doxygen info ---------------------- 00176 // ---------------------------------------------------------- 00177 void ProfileStep2NegLinHldPosLin( const double &CurrentTime 00178 , const double &SynchronizationTime 00179 , const double &CurrentPosition 00180 , const double &CurrentVelocity 00181 , const double &TargetPosition 00182 , const double &TargetVelocity 00183 , const double &MaxAcceleration 00184 , MotionPolynomials *PolynomialsLocal 00185 , const bool &Inverted ); 00186 00187 00188 // ---------------------- Doxygen info ---------------------- 00196 // ---------------------------------------------------------- 00197 void ProfileStep2NegLinHldNegLin( const double &CurrentTime 00198 , const double &SynchronizationTime 00199 , const double &CurrentPosition 00200 , const double &CurrentVelocity 00201 , const double &TargetPosition 00202 , const double &TargetVelocity 00203 , const double &MaxAcceleration 00204 , MotionPolynomials *PolynomialsLocal 00205 , const bool &Inverted ); 00206 00207 00208 // ---------------------- Doxygen info ---------------------- 00216 // ---------------------------------------------------------- 00217 void ProfileStep2PosTrapNegLin( const double &CurrentTime 00218 , const double &SynchronizationTime 00219 , const double &CurrentPosition 00220 , const double &CurrentVelocity 00221 , const double &TargetPosition 00222 , const double &TargetVelocity 00223 , const double &MaxAcceleration 00224 , MotionPolynomials *PolynomialsLocal 00225 , const bool &Inverted ); 00226 00227 00228 // ---------------------- Doxygen info ---------------------- 00236 // ---------------------------------------------------------- 00237 void ProfileStep2NegLinHldNegLinNegLin( const double &CurrentTime 00238 , const double &SynchronizationTime 00239 , const double &CurrentPosition 00240 , const double &CurrentVelocity 00241 , const double &TargetPosition 00242 , const double &TargetVelocity 00243 , const double &MaxAcceleration 00244 , MotionPolynomials *PolynomialsLocal 00245 , const bool &Inverted ); 00246 00247 } // namespace TypeIIRMLMath 00248 00249 #endif 00250