Generates a 1DOF order-three trajectory.
#include <TrajGen.hpp>
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| bool | configure (const double xi, const double xf, const double _T) |
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| bool | configure (const double xi, const double xf, const double xdoti, const double xdotf, const double _T) |
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| double | get (const double ti) const |
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| double | getdot (const double ti) const |
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| double | getdotdot (const double ti) const |
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| bool | maxVelBelow (const double thresVel) const |
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| bool | maxAccBelow (const double thresAcc) const |
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| double | getT () const |
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| void | dump (double samples) const |
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double | a3 |
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double | a2 |
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double | a1 |
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double | a0 |
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double | T |
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◆ configure() [1/2]
| bool OrderThreeTraj::configure |
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const double |
xi, |
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const double |
xf, |
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const double |
_T |
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inlinevirtual |
Configure the trajectory. Forces null initial and final velocities.
Implements Traj.
◆ configure() [2/2]
| bool OrderThreeTraj::configure |
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const double |
xi, |
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const double |
xf, |
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const double |
xdoti, |
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const double |
xdotf, |
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const double |
_T |
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) |
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inlinevirtual |
Configure the trajectory setting an initial and final velocity too (warning: possible overshoot).
Implements Traj.
◆ dump()
| void OrderThreeTraj::dump |
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double |
samples | ) |
const |
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inlinevirtual |
Printf of ti, f(ti), fdot(ti), fdotdot(ti) for whole duration interval.
- Parameters
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| samples | number of lines to print. |
Implements Traj.
◆ get()
| double OrderThreeTraj::get |
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const double |
ti | ) |
const |
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inlinevirtual |
- Returns
- the value of the function at instant ti.
Implements Traj.
◆ getdot()
| double OrderThreeTraj::getdot |
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const double |
ti | ) |
const |
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inlinevirtual |
- Returns
- the value of the first derivative of the function at instant ti.
Implements Traj.
◆ getdotdot()
| double OrderThreeTraj::getdotdot |
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const double |
ti | ) |
const |
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inlinevirtual |
- Returns
- the value of the second derivative of the function at instant ti.
Implements Traj.
◆ getT()
| double OrderThreeTraj::getT |
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const |
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inlinevirtual |
- Returns
- duration assigned to the trajectory instance.
Implements Traj.
◆ maxAccBelow()
| bool OrderThreeTraj::maxAccBelow |
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const double |
thresAcc | ) |
const |
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inlinevirtual |
Check if the maximum of the second derivative is below a certain threshold.
Implements Traj.
◆ maxVelBelow()
| bool OrderThreeTraj::maxVelBelow |
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const double |
thresVel | ) |
const |
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inlinevirtual |
Check if the maximum of the first derivative is below a certain threshold.
Implements Traj.
The documentation for this class was generated from the following file:
