Timescale trajectory with trapezoidal velocity profile.
#include <fsb_timescale.h>
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| bool | set_limits (real_t max_timescale, real_t max_timescale_deriv, real_t max_timescale_2nd_deriv) |
| | Set timescale transition limits.
|
| |
| bool | start (real_t time_mono, real_t time_scaled_init, real_t timescale=1.0) |
| |
| TimescaleResult | goto_timescale (real_t time_mono, real_t target_timescale) |
| | Set new timescale.
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| |
| TrajState | evaluate (real_t time_mono) const |
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◆ evaluate()
| TrajState fsb::Timescale::evaluate |
( |
real_t |
time_mono | ) |
const |
- Parameters
-
| time_mono | Monotonic clock time in seconds |
- Returns
- Scaled time state
◆ goto_timescale()
| TimescaleResult fsb::Timescale::goto_timescale |
( |
real_t |
time_mono, |
|
|
real_t |
target_timescale |
|
) |
| |
Set new timescale.
- Parameters
-
| time_mono | Monotonic clock time in seconds |
| target_timescale | Target timescale |
- Returns
◆ set_limits()
| bool fsb::Timescale::set_limits |
( |
real_t |
max_timescale, |
|
|
real_t |
max_timescale_deriv, |
|
|
real_t |
max_timescale_2nd_deriv |
|
) |
| |
Set timescale transition limits.
- Parameters
-
| max_timescale | Maximum timescale |
| max_timescale_deriv | Maximum first derivative of timescale transition |
| max_timescale_2nd_deriv | Maximum second derivative of timescale transition |
- Returns
◆ start()
| bool fsb::Timescale::start |
( |
real_t |
time_mono, |
|
|
real_t |
time_scaled_init, |
|
|
real_t |
timescale = 1.0 |
|
) |
| |
- Parameters
-
| time_mono | Monotonic clock time in seconds |
| time_scaled_init | Initial scaled time in seconds |
| timescale | Initial timescale value. Default 1.0 |
The documentation for this class was generated from the following files:
