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| TrapezoidalTrajectory () |
| | Constructor.
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void | setTargetPosition (double startTimestamp, double initialPosition, double initialVelocity, double targetPosition, double refSpeed, double refAcceleration) |
| | Set motion parameters (using target position).
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void | setTargetVelocity (double startTimestamp, double initialPosition, double initialVelocity, double targetVelocity, double refAcceleration) |
| | Set motion parameters (infinite motion).
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void | reset (double currentPosition) |
| | Reset state, remember current position (units).
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Reference | update (double timestamp) |
| | Update trajectory state, must be called on regular intervals of period.
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double | getTargetPosition () const |
| | Query configured target position (units).
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double | queryPosition () const |
| | Retrieve last position reference (units).
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double | queryVelocity () const |
| | Retrieve last velocity reference (units/seconds).
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double | queryAcceleration () const |
| | Retrieve last acceleration reference (units/seconds^2).
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double | queryTime () const |
| | Retrieve elapsed time since start (seconds).
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bool | isActive () const |
| | Whether the trajectory is currently ongoing.
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void | configure (double startTimestamp, double initialPosition, double initialVelocity, double targetPosition, double refSpeed, double refAcceleration) |
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double | ta |
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double | a1 |
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double | a2 |
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double | a3 |
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double | tb |
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double | b2 |
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double | b3 |
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double | tc |
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double | c1 |
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double | c2 |
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double | c3 |
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double | startTimestamp |
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double | targetPosition |
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double | positionReference |
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double | velocityReference |
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double | accelerationReference |
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double | elapsedTime |
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bool | active |
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std::mutex | mutex |
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The documentation for this class was generated from the following files:
