trap.c File Reference

#include "fastcat/trap.h"
#include <assert.h>
#include <math.h>
#include <stdbool.h>
#include "jsd/jsd_print.h"

Include dependency graph for trap.c:

Macros
#define	SIGN(X)   (((X) >= 0) - ((X) < 0))

Functions
int	fastcat_trap_generate (fastcat_trap_t *self, double t_init_sec, double pos_init, double pos_fini, double vel_init, double vel_fini, double vel_max, double acc)
	Sets up math for creating a simple trapezoidal position profile.
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)
void	fastcat_trap_print_fastcat_trap_values (fastcat_trap_t *self)

Macro Definition Documentation

SIGN

#define SIGN

(

X

)

(((X) >= 0) - ((X) < 0))

Function Documentation

fastcat_trap_generate()

int fastcat_trap_generate	(	fastcat_trap_t *	self,
		double	t_init_sec,
		double	pos_init,
		double	pos_fini,
		double	vel_init,
		double	vel_fini,
		double	vel_max,
		double	acc
	)

Sets up math for creating a simple trapezoidal position profile.

Parameters

self	trap main object
t_init_sec	initial absolute time in seconds
pos_init	initial position for the profile
pos_fini	final position for the profile
vel_init	initial velocity for the profile
vel_fini	final velocity for the profile
vel_max	cruising speed for the profile
acc	max acceleration/deceleration for the profile

Returns

0 on success, -1 on failure

< initial velocity

< final velocity

< cruising ("max") velocity

< total distance from initial to final

< acceleration time from initial to max

< decleration time from max to final

< acceleration distance from initial to max

< deceleration distance from max to final

< initial position

< final position

< total time for constant velocity phase (cruising time)

< distance travelled during constant velocity phase (cruising distance)

< min value

< actual capped max velocity in order to not overshoot during a non-trapezoidal profile

< total distance (including direction)

< initial velocity

< final velocity

< acceleration magnitude. direction is enforced elsewhere

fastcat_trap_generate_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
	)

fastcat_trap_print_fastcat_trap_values()

void fastcat_trap_print_fastcat_trap_values

(

fastcat_trap_t *

self

)

fastcat_trap_update()

int fastcat_trap_update	(	fastcat_trap_t *	self,
		double	t,
		double *	pos,
		double *	vel
	)

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fastcat_trap_update_vel()

int fastcat_trap_update_vel	(	fastcat_trap_t *	self,
		double	t,
		double *	pos,
		double *	vel
	)