Trajectory timescaling

Scale trajectories with modified time differential. More...

Classes
class	fsb::Timescale
	Timescale trajectory with trapezoidal velocity profile. More...

Enumerations
enum class	fsb::TimescaleResult : uint8_t { TimescaleResult::SUCCESS = 0 , TimescaleResult::MAX_TIMESCALE_BELOW_TOLERANCE = 1 , TimescaleResult::FAILED_TO_TRANSITION = 2 }
	Result of timescale transition. More...

Functions
TrajState	fsb::timescale_trajectory (const TrajState &timescale, const TrajState &traj)
	Apply timescale to trajectory position, velocity, and acceeleration.

Detailed Description

Scale trajectories with modified time differential.

Enumeration Type Documentation

TimescaleResult

enum class fsb::TimescaleResult : uint8_t

strong

Result of timescale transition.

Enumerator
SUCCESS	Timescale transition successful.
MAX_TIMESCALE_BELOW_TOLERANCE	Timescale transition failed due to maximum timescale below tolerance.
FAILED_TO_TRANSITION	Timescale transition failed.

Function Documentation

timescale_trajectory()

TrajState fsb::timescale_trajectory	(	const TrajState &	timescale,
		const TrajState &	traj
	)

Apply timescale to trajectory position, velocity, and acceeleration.

Note

The jerk is not scaled and is set to 0 on output

Parameters

[in]	timescale	Timescale state (position, velocity and acceleration)
[in]	traj	Trajectory state to be scaled

Returns

Scaled trajectory state.