trap.h

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#ifndef FASTCAT_FASTCAT_TRAP_H_
#define FASTCAT_FASTCAT_TRAP_H_
 
#ifdef __cplusplus
extern "C" {
#endif
 
#include <stdint.h>
 
typedef enum {
  FASTCAT_TRAP_MODE_IDLE = 0,
  FASTCAT_TRAP_MODE_RATE,
  FASTCAT_TRAP_MODE_POS,
} fastcat_trap_mode_t;
 
typedef struct {
  double pos_init;  
  double pos_pre;   
  double pos_acc;   
  double pos_dec;   
  double pos_fini;  
 
  double vel_max;  
  double acc;      
  double acc_pre;  
  double dec;      
 
  double t_init;  
  double t_pre;   
  double t_acc;   
  double t_dec;   
  double t_fini;  
 
  double vel_init;  
  double vel_fini;  
 
  double vel_pre;  
  double vel_acc;  
 
  int mode;
 
} fastcat_trap_t;
 
int fastcat_trap_generate(fastcat_trap_t* self, double t_init, double pos_init,
                          double pos_fini, double vel_init, double vel_fini,
                          double max_vel, double acc);
 
int fastcat_trap_update(fastcat_trap_t* self, double t, double* pos,
                        double* vel);
 
int fastcat_trap_generate_vel(fastcat_trap_t* self, double t_init_sec,
                              double pos_init, double vel_init, double vel_fini,
                              double acc, double max_time);
 
int fastcat_trap_update_vel(fastcat_trap_t* self, double t, double* pos,
                            double* vel);
 
#ifdef __cplusplus
}
#endif
 
#endif