Reflexxes Motion Libraries  Manual and Documentation (Type II, Version 1.2.6)
include/TypeIIRMLStep1Profiles.h
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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 
User documentation of the Reflexxes Motion Libraries by Reflexxes GmbH (Company Information, Impressum). This document was generated with Doxygen on Mon Jul 7 2014 13:21:08. Copyright 2010–2014.