fsb::TrapezoidalPosition Class Reference

Detailed Description

Trapezoidal velocity motion profile

#include <fsb_trapezoidal_position.h>

Inheritance diagram for fsb::TrapezoidalPosition:

Collaboration diagram for fsb::TrapezoidalPosition:

Public Member Functions
TrapezoidalStatus	generate (Real start_time, Real initial_position, Real final_position, Real max_velocity, Real max_acceleration, Real max_jerk)
	Goto target position.
TrapezoidalStatus	generate (Real start_time, Real initial_position, Real final_position, Real initial_velocity, Real final_velocity, Real max_velocity, Real max_acceleration, Real max_jerk)
	Goto target position with initial and final velocities.
TrajState	evaluate (Real t_eval) const override final
	Evaluate trajectory.
TrajState	get_final_state () const override final
	Get final state of segment.
TrajState	get_initial_state () const override final
	Get initial state of segment.
Real	get_start_time () const override final
	Get start time of segment.
Real	get_duration () const override final
	Get total duration.
Real	get_final_time () const override final
	Get final time of trajectory.

Member Function Documentation

evaluate()

TrajState fsb::TrapezoidalPosition::evaluate ( Real  t_eval ) const

finaloverridevirtual

Evaluate trajectory.

Parameters

t_eval

Evaluation time

Returns

Trajectory state at evaluation time

Implements fsb::Segment< TrajStateType >.

generate() [1/2]

TrapezoidalStatus fsb::TrapezoidalPosition::generate	(	Real	start_time,
		Real	initial_position,
		Real	final_position,
		Real	initial_velocity,
		Real	final_velocity,
		Real	max_velocity,
		Real	max_acceleration,
		Real	max_jerk
	)

Goto target position with initial and final velocities.

Parameters

start_time
initial_position
final_position
initial_velocity
final_velocity
max_velocity
max_acceleration
max_jerk

Returns

generate() [2/2]

TrapezoidalStatus fsb::TrapezoidalPosition::generate	(	Real	start_time,
		Real	initial_position,
		Real	final_position,
		Real	max_velocity,
		Real	max_acceleration,
		Real	max_jerk
	)

Goto target position.

Parameters

start_time
initial_position
final_position
max_acceleration
max_jerk

Returns

get_duration()

Real fsb::TrapezoidalPosition::get_duration ( ) const

inlinefinaloverridevirtual

Get total duration.

Returns

Total duration of trajectory

Implements fsb::Segment< TrajStateType >.

get_final_state()

TrajState fsb::TrapezoidalPosition::get_final_state ( ) const

inlinefinaloverridevirtual

Get final state of segment.

Returns

Get final state at end of segment

Implements fsb::Segment< TrajStateType >.

get_final_time()

Real fsb::TrapezoidalPosition::get_final_time ( ) const

inlinefinaloverridevirtual

Get final time of trajectory.

Returns

Final time

Implements fsb::Segment< TrajStateType >.

get_initial_state()

TrajState fsb::TrapezoidalPosition::get_initial_state ( ) const

inlinefinaloverridevirtual

Get initial state of segment.

Returns

Get initial state at start of segment

Implements fsb::Segment< TrajStateType >.

get_start_time()

Real fsb::TrapezoidalPosition::get_start_time ( ) const

inlinefinaloverridevirtual

Get start time of segment.

Returns

Start time.

Implements fsb::Segment< TrajStateType >.

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

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