include/TypeIIRMLStep2IntermediateProfiles.h

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00001 //  ---------------------- Doxygen info ----------------------
00041 //  ----------------------------------------------------------
00042 //   For a convenient reading of this file's source code,
00043 //   please use a tab width of four characters.
00044 //  ----------------------------------------------------------
00045
00046
00047
00048 #ifndef __TypeIIRMLStep2IntermediateTimeProfiles__
00049 #define __TypeIIRMLStep2IntermediateTimeProfiles__
00050 
00051
00052 #include <TypeIIRMLPolynomial.h>
00053 #include <TypeIIRMLMath.h>
00054
00055
00056 namespace TypeIIRMLMath
00057 {
00058
00059
00060 //  ---------------------- Doxygen info ----------------------
00097 //  ----------------------------------------------------------
00098 void NegateStep2(       double              *ThisCurrentPosition
00099                     ,   double              *ThisCurrentVelocity
00100                     ,   double              *ThisTargetPosition
00101                     ,   double              *ThisTargetVelocity
00102                     ,   bool                *Inverted               );
00103
00104
00105
00106 //  ---------------------- Doxygen info ----------------------
00155 //  ----------------------------------------------------------
00156 void VToVMaxStep2(      double              *ThisCurrentTime
00157                     ,   double              *ThisCurrentPosition
00158                     ,   double              *ThisCurrentVelocity
00159                     ,   const double        &MaxVelocity
00160                     ,   const double        &MaxAcceleration
00161                     ,   MotionPolynomials   *PolynomialsLocal
00162                     ,   const bool          &Inverted               );
00163
00164
00165 //  ---------------------- Doxygen info ----------------------
00210 //  ----------------------------------------------------------
00211 void VToZeroStep2(      double              *ThisCurrentTime
00212                     ,   double              *ThisCurrentPosition
00213                     ,   double              *ThisCurrentVelocity
00214                     ,   const double        &MaxAcceleration
00215                     ,   MotionPolynomials   *PolynomialsLocal
00216                     ,   const bool          &Inverted               );
00217
00218 }   // namespace TypeIIRMLMath
00219
00220 #endif