Three arrays of TypeIIRMLMath::TypeIIRMLPolynomial. More...

#include <TypeIIRMLPolynomial.h>

Public Attributes
double	PolynomialTimes [MAXIMAL_NO_OF_POLYNOMIALS]
	An array of ending times in seconds.
TypeIIRMLPolynomial	PositionPolynomial [MAXIMAL_NO_OF_POLYNOMIALS]
	An array of position polynomials.
TypeIIRMLPolynomial	VelocityPolynomial [MAXIMAL_NO_OF_POLYNOMIALS]
	An array of velocity polynomials.
TypeIIRMLPolynomial	AccelerationPolynomial [MAXIMAL_NO_OF_POLYNOMIALS]
	An array of acceleration polynomials.
unsigned char	ValidPolynomials
	The number of polynomials in use (0 ... `MAXIMAL_NO_OF_POLYNOMIALS`)

Detailed Description

Three arrays of TypeIIRMLMath::TypeIIRMLPolynomial.

This data structure contains three arrays of polynomials required for the Type II On-Line Trajectory Generation algorithm. Furthermore, this data structure contains the times until each single two-tuple of polynomials is valid and the number of used polynomial two-tuples that are currently in use. The value of MAXIMAL_NO_OF_POLYNOMIALS in the file TypeIIRMLMath.h.

See also:: TypeIIRMLPolynomial

Member Data Documentation

TypeIIRMLPolynomial TypeIIRMLMath::MotionPolynomials::AccelerationPolynomial[MAXIMAL_NO_OF_POLYNOMIALS]

An array of acceleration polynomials.

An array of acceleration polynomials, that is, objects of the class TypeIIRMLPolynomial, that is, $\ _{k}^{l}a_{i}(t)\ \forall\ l\ \in\ \{1,\,\dots,\,L\}$ , where $ L $ is value of MAXIMAL_NO_OF_POLYNOMIALS.

double TypeIIRMLMath::MotionPolynomials::PolynomialTimes[MAXIMAL_NO_OF_POLYNOMIALS]

An array of ending times in seconds.

An array of ending times in seconds, until which a polynomial is valid (e.g., PolynomialTimes[4] determines the ending time of the fourth polynomial).

TypeIIRMLPolynomial TypeIIRMLMath::MotionPolynomials::PositionPolynomial[MAXIMAL_NO_OF_POLYNOMIALS]

An array of position polynomials.

An array of position polynomials, that is, objects of the class TypeIIRMLPolynomial, that is, $\ _{k}^{l}p_{i}(t)\ \forall\ l\ \in\ \{1,\,\dots,\,L\}$ , where $ L $ is value of MAXIMAL_NO_OF_POLYNOMIALS.

unsigned char TypeIIRMLMath::MotionPolynomials::ValidPolynomials

The number of polynomials in use (0 ... MAXIMAL_NO_OF_POLYNOMIALS)

TypeIIRMLPolynomial TypeIIRMLMath::MotionPolynomials::VelocityPolynomial[MAXIMAL_NO_OF_POLYNOMIALS]

An array of velocity polynomials.

An array of velocity polynomials, that is, objects of the class TypeIIRMLPolynomial, that is, $\ _{k}^{l}v_{i}(t)\ \forall\ l\ \in\ \{1,\,\dots,\,L\}$ , where $ L $ is value of MAXIMAL_NO_OF_POLYNOMIALS.

The documentation for this struct was generated from the following file:

include/TypeIIRMLPolynomial.h

Public Attributes

Detailed Description

Member Data Documentation