Timescale trajectory with trapezoidal velocity profile.
#include <fsb_timescale.h>
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| bool | set_limits (Real max_timescale, Real max_timescale_deriv, Real max_timescale_2nd_deriv) |
| | Set timescale transition limits.
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| |
| bool | start (Real time_mono, Real time_scaled_init, Real timescale=1.0) |
| | Start timescale with initial conditions.
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| TimescaleResult | goto_timescale (Real time_mono, Real target_timescale) |
| | Set new timescale.
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| TrajState | evaluate (Real time_mono) const |
| | Evaluate timescale at given monotonic time.
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◆ evaluate()
| TrajState fsb::Timescale::evaluate |
( |
Real |
time_mono | ) |
const |
Evaluate timescale at given monotonic time.
- Parameters
-
| time_mono | Monotonic clock time in seconds |
- Returns
- Scaled time state (position, velocity, acceleration)
◆ goto_timescale()
| TimescaleResult fsb::Timescale::goto_timescale |
( |
Real |
time_mono, |
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|
Real |
target_timescale |
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) |
| |
Set new timescale.
- Parameters
-
| time_mono | Monotonic clock time in seconds |
| target_timescale | Target timescale |
- Returns
- TimescaleResult indicating success or failure reason
◆ set_limits()
| bool fsb::Timescale::set_limits |
( |
Real |
max_timescale, |
|
|
Real |
max_timescale_deriv, |
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|
Real |
max_timescale_2nd_deriv |
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) |
| |
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
- true if limits were set successfully, false otherwise
◆ start()
| bool fsb::Timescale::start |
( |
Real |
time_mono, |
|
|
Real |
time_scaled_init, |
|
|
Real |
timescale = 1.0 |
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) |
| |
Start timescale with initial conditions.
- Parameters
-
| time_mono | Monotonic clock time in seconds |
| time_scaled_init | Initial scaled time in seconds |
| timescale | Initial timescale value. Default 1.0 |
- Returns
- true if started successfully, false otherwise
The documentation for this class was generated from the following files:
