fsb::TrapezoidalVelocity Class Reference

Detailed Description

Trapezoidal velocity motion profile

#include <fsb_trapezoidal_velocity.h>

Inheritance diagram for fsb::TrapezoidalVelocity:

Collaboration diagram for fsb::TrapezoidalVelocity:

Public Member Functions
TrapezoidalStatus	goto_velocity (real_t start_time, const TrajState &initial_state, real_t final_velocity, real_t final_acceleration, real_t max_acceleration, real_t max_jerk)
	Goto target velocity.
TrajState	evaluate (real_t t_eval) const override
	Evaluate trajectory.
TrajState	get_final_state () const override
	Get final state of segment.
real_t	get_start_time () const override
	Get start time of segment.
real_t	get_duration () const override
	Get total duration.
real_t	get_final_time () const override
	Get final time of trajectory.

Member Function Documentation

evaluate()

TrajState fsb::TrapezoidalVelocity::evaluate ( real_t  t_eval ) const

overridevirtual

Evaluate trajectory.

Parameters

t_eval

Evaluation time

Returns

Trajectory state at evaluation time

Implements fsb::Segment.

get_duration()

real_t fsb::TrapezoidalVelocity::get_duration ( ) const

inlineoverridevirtual

Get total duration.

Returns

Total duration of trajectory

Implements fsb::SegmentBase.

get_final_state()

TrajState fsb::TrapezoidalVelocity::get_final_state ( ) const

inlineoverridevirtual

Get final state of segment.

Returns

Get final state at end of segment

Implements fsb::Segment.

get_final_time()

real_t fsb::TrapezoidalVelocity::get_final_time ( ) const

inlineoverridevirtual

Get final time of trajectory.

Returns

Final time

Implements fsb::SegmentBase.

get_start_time()

real_t fsb::TrapezoidalVelocity::get_start_time ( ) const

inlineoverridevirtual

Get start time of segment.

Returns

Start time.

Implements fsb::SegmentBase.

goto_velocity()

TrapezoidalStatus fsb::TrapezoidalVelocity::goto_velocity	(	real_t	start_time,
		const TrajState &	initial_state,
		real_t	final_velocity,
		real_t	final_acceleration,
		real_t	max_acceleration,
		real_t	max_jerk
	)

Goto target velocity.

Parameters

start_time
initial_state
final_velocity
final_acceleration
max_acceleration
max_jerk

Returns

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The documentation for this class was generated from the following files:

• fsb-core/include/fsb_trapezoidal_velocity.h
• fsb-core/src/fsb_trapezoidal_velocity.cpp