include/TypeIIRMLDecisions.h File Reference

Header file for decisions of the two decision trees of the Type II On-Line Trajectory Generation algorithm. More...

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Namespaces
namespace	TypeIIRMLMath
Functions
bool	TypeIIRMLMath::Decision_1A__001 (const double &CurrentVelocity)
	Is (vi >= 0)?
bool	TypeIIRMLMath::Decision_1A__002 (const double &CurrentVelocity, const double &MaxVelocity)
	Is (vi <= +vmax)?
bool	TypeIIRMLMath::Decision_1A__003 (const double &CurrentVelocity, const double &TargetVelocity)
	Is (vi <= vtrgt)?
bool	TypeIIRMLMath::Decision_1A__004 (const double &CurrentPosition, const double &CurrentVelocity, const double &TargetPosition, const double &TargetVelocity, const double &MaxAcceleration)
	If v->vtrgt, is p<=ptrgt?
bool	TypeIIRMLMath::Decision_1A__005 (const double &CurrentPosition, const double &CurrentVelocity, const double &TargetPosition, const double &TargetVelocity, const double &MaxVelocity, const double &MaxAcceleration)
	If v->vmax->vtrgt, is p<=ptrgt?
bool	TypeIIRMLMath::Decision_1A__006 (const double &TargetVelocity)
	Is (vtrgt >= 0)?
bool	TypeIIRMLMath::Decision_1A__007 (const double &CurrentPosition, const double &CurrentVelocity, const double &TargetPosition, const double &TargetVelocity, const double &MaxAcceleration)
	If v->vtrgt, is p>=ptrgt?
bool	TypeIIRMLMath::Decision_1A__008 (const double &CurrentPosition, const double &CurrentVelocity, const double &TargetPosition, const double &TargetVelocity, const double &MaxAcceleration)
	If v->0->vtrgt, is p>=ptrgt?
bool	TypeIIRMLMath::Decision_1A__009 (const double &CurrentPosition, const double &CurrentVelocity, const double &TargetPosition, const double &TargetVelocity, const double &MaxVelocity, const double &MaxAcceleration)
	If v->vmax->0->vtrgt, is p>=ptrgt?
bool	TypeIIRMLMath::Decision_1B__001 (const double &CurrentVelocity)
	Is (vi >= 0)?
bool	TypeIIRMLMath::Decision_1B__002 (const double &CurrentVelocity, const double &MaxVelocity)
	Is (vi <= +vmax)?
bool	TypeIIRMLMath::Decision_1B__003 (const double &TargetVelocity)
	Is (vtrgt >= 0)?
bool	TypeIIRMLMath::Decision_1B__004 (const double &CurrentVelocity, const double &TargetVelocity)
	Is (vi <= vtrgt)?
bool	TypeIIRMLMath::Decision_1B__005 (const double &CurrentPosition, const double &CurrentVelocity, const double &TargetPosition, const double &TargetVelocity, const double &MaxAcceleration)
	If v->vtrgt, is p<=ptrgt?
bool	TypeIIRMLMath::Decision_1B__006 (const double &CurrentPosition, const double &CurrentVelocity, const double &TargetPosition, const double &TargetVelocity, const double &MaxAcceleration)
	If v->0->vtrgt, is p<=ptrgt?
bool	TypeIIRMLMath::Decision_1B__007 (const double &CurrentPosition, const double &CurrentVelocity, const double &TargetPosition, const double &TargetVelocity, const double &MaxAcceleration)
	If v->vtrgt, is p>=ptrgt?
bool	TypeIIRMLMath::Decision_1C__001 (const double &CurrentVelocity)
	Is (vi >= 0)?
bool	TypeIIRMLMath::Decision_1C__002 (const double &CurrentVelocity, const double &MaxVelocity)
	Is (vi <= +vmax)?
bool	TypeIIRMLMath::Decision_1C__003 (const double &CurrentPosition, const double &CurrentVelocity, const double &TargetPosition, const double &TargetVelocity, const double &MaxVelocity, const double &MaxAcceleration)
	If v->vmax->0->vtrgt, is p>=ptrgt?
bool	TypeIIRMLMath::Decision_2___001 (const double &CurrentVelocity)
	Is (vi >= 0)?
bool	TypeIIRMLMath::Decision_2___002 (const double &CurrentVelocity, const double &MaxVelocity)
	Is (vi <= +vmax)?
bool	TypeIIRMLMath::Decision_2___003 (const double &CurrentVelocity, const double &TargetVelocity)
	Is (vi <= vtrgt)?
bool	TypeIIRMLMath::Decision_2___004 (const double &CurrentPosition, const double &CurrentVelocity, const double &TargetPosition, const double &TargetVelocity, const double &MaxAcceleration, const double &CurrentTime, const double &SynchronizationTime)
	If v->vtrgt->hold, so that t=tsync, is p<=ptrgt?
bool	TypeIIRMLMath::Decision_2___005 (const double &CurrentPosition, const double &CurrentVelocity, const double &TargetPosition, const double &TargetVelocity, const double &MaxAcceleration, const double &CurrentTime, const double &SynchronizationTime)
	If v->hold->vtrgt, so that t=tsync, is p<=ptrgt?
bool	TypeIIRMLMath::Decision_2___006 (const double &CurrentTime, const double &SynchronizationTime, const double &CurrentPosition, const double &CurrentVelocity, const double &TargetPosition, const double &TargetVelocity, const double &MaxAcceleration)
	If (v->0->vtrgt, is p<=ptrgt || t > tsync)?
bool	TypeIIRMLMath::Decision_2___007 (const double &TargetVelocity)
	Is (vtrgt >= 0)?
bool	TypeIIRMLMath::Decision_2___008 (const double &CurrentPosition, const double &CurrentVelocity, const double &TargetPosition, const double &TargetVelocity, const double &MaxAcceleration, const double &CurrentTime, const double &SynchronizationTime)
	If v->hold->vtrgt, so that t=tsync, is p<=ptrgt?
bool	TypeIIRMLMath::Decision_2___009 (const double &CurrentPosition, const double &CurrentVelocity, const double &TargetPosition, const double &TargetVelocity, const double &MaxAcceleration, const double &CurrentTime, const double &SynchronizationTime)
	If v->vtrgt->hold, so that t=tsync, is p<=ptrgt?
bool	TypeIIRMLMath::Decision_2___010 (const double &CurrentPosition, const double &CurrentVelocity, const double &TargetPosition, const double &TargetVelocity, const double &MaxAcceleration)
	If v->0->vtrgt, is p>=ptrgt?
bool	TypeIIRMLMath::Decision_2___011 (const double &CurrentPosition, const double &CurrentVelocity, const double &TargetPosition, const double &TargetVelocity, const double &MaxAcceleration, const double &CurrentTime, const double &SynchronizationTime)
	If v->vtrgt->hold, so that t=tsync, is p<=ptrgt?
bool	TypeIIRMLMath::Decision_2___012 (const double &CurrentPosition, const double &CurrentVelocity, const double &TargetPosition, const double &TargetVelocity, const double &MaxAcceleration, const double &CurrentTime, const double &SynchronizationTime)
	If v->hold->0->vtrgt, so that t=tsync, is p<=ptrgt?
bool	TypeIIRMLMath::Decision_V___001 (const double &CurrentVelocity, const double &TargetVelocity)
	Is (vi <= vtrgt)?

---

Detailed Description

Header file for decisions of the two decision trees of the Type II On-Line Trajectory Generation algorithm.

This file contains all necessary decisions for the Type II On-Line Trajectory Generation algorithm. All functions are part of the namespace TypeIIRMLMath.

Date:

March 2014

Version:

1.2.6

Author:

Torsten Kroeger, <info@reflexxes.com>

Copyright:

Copyright (C) 2014 Google, Inc.

GNU Lesser General Public License

This file is part of the Type II Reflexxes Motion Library.

The Type II Reflexxes Motion Library is free software: you can redistribute it and/or modify it under the terms of the GNU Lesser General Public License as published by the Free Software Foundation, either version 3 of the License, or (at your option) any later version.

The Type II Reflexxes Motion Library is distributed in the hope that it will be useful, but WITHOUT ANY WARRANTY; without even the implied warranty of MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the GNU Lesser General Public License for more details.

You should have received a copy of the GNU Lesser General Public License along with the Type II Reflexxes Motion Library. If not, see <http://www.gnu.org/licenses/>.