Reflexxes Motion Libraries
Manual and Documentation (Type II, Version 1.2.6)
|
00001 // ---------------------- Doxygen info ---------------------- 00046 // ---------------------------------------------------------- 00047 // For a convenient reading of this file's source code, 00048 // please use a tab width of four characters. 00049 // ---------------------------------------------------------- 00050 00051 00052 #ifndef __TypeIIRMLStep1Profiles__ 00053 #define __TypeIIRMLStep1Profiles__ 00054 00055 00056 #include <TypeIIRMLMath.h> 00057 00058 00059 namespace TypeIIRMLMath 00060 { 00061 // ---------------------- Doxygen info ---------------------- 00070 // ---------------------------------------------------------- 00071 enum Step1_Profile 00072 { 00074 Step1_Undefined = 0, 00076 Step1_Profile_PosLinHldNegLin = 1, 00078 Step1_Profile_PosLinNegLin = 2, 00080 Step1_Profile_PosTriNegLin = 3, 00082 Step1_Profile_PosTrapNegLin = 4, 00084 Step1_Profile_NegLinHldPosLin = 5, 00086 Step1_Profile_NegLinPosLin = 6, 00088 Step1_Profile_NegTriPosLin = 7, 00090 Step1_Profile_NegTrapPosLin = 8 00091 }; 00092 00093 00094 // ---------------------- Doxygen info ---------------------- 00130 // ---------------------------------------------------------- 00131 double ProfileStep1PosLinHldNegLin( const double &CurrentPosition 00132 , const double &CurrentVelocity 00133 , const double &TargetPosition 00134 , const double &TargetVelocity 00135 , const double &MaxVelocity 00136 , const double &MaxAcceleration ); 00137 00138 00139 // ---------------------- Doxygen info ---------------------- 00171 // ---------------------------------------------------------- 00172 double ProfileStep1PosLinNegLin( const double &CurrentPosition 00173 , const double &CurrentVelocity 00174 , const double &TargetPosition 00175 , const double &TargetVelocity 00176 , const double &MaxAcceleration ); 00177 00178 00179 // ---------------------- Doxygen info ---------------------- 00211 // ---------------------------------------------------------- 00212 double ProfileStep1PosTriNegLin( const double &CurrentPosition 00213 , const double &CurrentVelocity 00214 , const double &TargetPosition 00215 , const double &TargetVelocity 00216 , const double &MaxAcceleration ); 00217 00218 00219 // ---------------------- Doxygen info ---------------------- 00255 // ---------------------------------------------------------- 00256 double ProfileStep1PosTrapNegLin( const double &CurrentPosition 00257 , const double &CurrentVelocity 00258 , const double &TargetPosition 00259 , const double &TargetVelocity 00260 , const double &MaxVelocity 00261 , const double &MaxAcceleration ); 00262 00263 00264 // ---------------------- Doxygen info ---------------------- 00296 // ---------------------------------------------------------- 00297 double ProfileStep1NegLinPosLin( const double &CurrentPosition 00298 , const double &CurrentVelocity 00299 , const double &TargetPosition 00300 , const double &TargetVelocity 00301 , const double &MaxAcceleration ); 00302 00303 00304 // ---------------------- Doxygen info ---------------------- 00340 // ---------------------------------------------------------- 00341 bool IsSolutionForProfile_PosLinHldNegLin_Possible( const double &CurrentPosition 00342 , const double &CurrentVelocity 00343 , const double &TargetPosition 00344 , const double &TargetVelocity 00345 , const double &MaxVelocity 00346 , const double &MaxAcceleration ); 00347 00348 00349 // ---------------------- Doxygen info ---------------------- 00385 // ---------------------------------------------------------- 00386 bool IsSolutionForProfile_PosLinNegLin_Possible( const double &CurrentPosition 00387 , const double &CurrentVelocity 00388 , const double &TargetPosition 00389 , const double &TargetVelocity 00390 , const double &MaxVelocity 00391 , const double &MaxAcceleration ); 00392 00393 00394 // ---------------------- Doxygen info ---------------------- 00430 // ---------------------------------------------------------- 00431 bool IsSolutionForProfile_PosTriNegLin_Possible( const double &CurrentPosition 00432 , const double &CurrentVelocity 00433 , const double &TargetPosition 00434 , const double &TargetVelocity 00435 , const double &MaxVelocity 00436 , const double &MaxAcceleration ); 00437 00438 00439 // ---------------------- Doxygen info ---------------------- 00475 // ---------------------------------------------------------- 00476 bool IsSolutionForProfile_PosTrapNegLin_Possible( const double &CurrentPosition 00477 , const double &CurrentVelocity 00478 , const double &TargetPosition 00479 , const double &TargetVelocity 00480 , const double &MaxVelocity 00481 , const double &MaxAcceleration ); 00482 00483 } // namespace TypeIIRMLMath 00484 00485 #endif 00486