#include "trap.h"

Public Attributes
double	pos_init
	absolute position of the start of the trajectory

double	pos_pre

double	pos_acc
	absolute position when accelration phase is complete

double	pos_dec
	absolute position when decleration phase start

double	pos_fini
	absolute position of the end of the trajectory

double	vel_max
	maximum velocity of the trajectory

double	acc
	acceleration of the trajectory

double	acc_pre

double	dec
	deceleration of the trajectory

double	t_init
	absolute time of the start of the trajectory

double	t_pre

double	t_acc
	absolute time when acceleration phase is complete

double	t_dec
	absolute time when the deceleration phase starts

double	t_fini
	absolute time of the end of the trajectory

double	vel_init
	velocity at the start of the trajectory

double	vel_fini
	velocity at the end of the trajectory

double	vel_pre
	velocity after the initial phase

double	vel_acc
	velocity after the accel phase

int	mode

Member Data Documentation

◆ acc

double fastcat_trap_t::acc

acceleration of the trajectory

◆ acc_pre

double fastcat_trap_t::acc_pre

initial accel to get velocity within limits [-vel_max, +vel_max]

◆ dec

double fastcat_trap_t::dec

deceleration of the trajectory

◆ mode

int fastcat_trap_t::mode

◆ pos_acc

double fastcat_trap_t::pos_acc

absolute position when accelration phase is complete

◆ pos_dec

double fastcat_trap_t::pos_dec

absolute position when decleration phase start

◆ pos_fini

double fastcat_trap_t::pos_fini

absolute position of the end of the trajectory

◆ pos_init

double fastcat_trap_t::pos_init

absolute position of the start of the trajectory

◆ pos_pre

double fastcat_trap_t::pos_pre

absolute position after accelerating to get |v| <= |vel_max|

◆ t_acc

double fastcat_trap_t::t_acc

absolute time when acceleration phase is complete

◆ t_dec

double fastcat_trap_t::t_dec

absolute time when the deceleration phase starts

◆ t_fini

double fastcat_trap_t::t_fini

absolute time of the end of the trajectory

◆ t_init

double fastcat_trap_t::t_init

absolute time of the start of the trajectory

◆ t_pre

double fastcat_trap_t::t_pre

absolute time after initial state (satisfy max_vel constraint)

◆ vel_acc

double fastcat_trap_t::vel_acc

velocity after the accel phase

◆ vel_fini

double fastcat_trap_t::vel_fini

velocity at the end of the trajectory

◆ vel_init

double fastcat_trap_t::vel_init

velocity at the start of the trajectory

◆ vel_max

double fastcat_trap_t::vel_max

maximum velocity of the trajectory

◆ vel_pre

double fastcat_trap_t::vel_pre

velocity after the initial phase

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

src/trap.h

Public Attributes