include/TypeIIRMLStep2WithoutSynchronization.h

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00001 // ---------------------- Doxygen info ----------------------
00042 //  ----------------------------------------------------------
00043 //   For a convenient reading of this file's source code,
00044 //   please use a tab width of four characters.
00045 //  ----------------------------------------------------------
00046
00047
00048 #ifndef __TypeIIRMLStep2WithoutSynchronization__
00049 #define __TypeIIRMLStep2WithoutSynchronization__
00050 
00051
00052 #include <TypeIIRMLMath.h>
00053 #include <TypeIIRMLStep1Profiles.h>
00054 #include <TypeIIRMLPolynomial.h>
00055
00056
00057 namespace TypeIIRMLMath
00058 {
00059
00060 // ---------------------- Doxygen info ----------------------
00113 // ----------------------------------------------------------
00114  void Step2WithoutSynchronization(      const double                        &CurrentPosition
00115                                     ,   const double                        &CurrentVelocity
00116                                     ,   const double                        &TargetPosition
00117                                     ,   const double                        &TargetVelocity
00118                                     ,   const double                        &MaxVelocity
00119                                     ,   const double                        &MaxAcceleration
00120                                     ,   const TypeIIRMLMath::Step1_Profile  &UsedProfile
00121                                     ,   const double                        &MinimumExecutionTime
00122                                     ,   MotionPolynomials                   *PolynomialsInternal);
00123
00124 }   // namespace TypeIIRMLMath
00125
00126 #endif
00127