lua/src/trajtrap.h

   1 /***
   2  trapezoidal velocity trajectory
   3  @classmod a.trajtrap
   4 */
   5
   6 #ifndef LUA_LIBA_TRAJTRAP_H
   7 #define LUA_LIBA_TRAJTRAP_H
   8
   9 #include "a.h"
  10
  11 /***
  12  trapezoidal velocity trajectory
  13  @field t total duration
  14  @field p0 initial position
  15  @field p1 final position
  16  @field v0 initial velocity
  17  @field v1 final velocity
  18  @field vc constant velocity
  19  @field ta time before constant velocity
  20  @field td time after constant velocity
  21  @field pa position before constant velocity
  22  @field pd position after constant velocity
  23  @field ac acceleration before constant velocity
  24  @field de acceleration after constant velocity
  25  @table a.trajtrap
  26 */
  27 #if defined(__cplusplus)
  28 extern "C" {
  29 #endif /* __cplusplus */
  30
  31 /***
  32  constructor for trapezoidal velocity trajectory
  33  @treturn a.trajtrap trapezoidal velocity trajectory userdata
  34  @function new
  35 */
  36 int liba_trajtrap_new(lua_State *L);
  37
  38 /***
  39  generate for trapezoidal velocity trajectory
  40  @tparam number vm defines the maximum velocity during system operation
  41  @tparam number ac defines the acceleration before constant velocity
  42  @tparam number de defines the acceleration after constant velocity
  43  @tparam number p0 defines the initial position
  44  @tparam number p1 defines the final position
  45  @tparam[opt] number v0 defines the initial velocity
  46  @tparam[opt] number v1 defines the final velocity
  47  @treturn number total duration
  48  @function gen
  49 */
  50 int liba_trajtrap_gen(lua_State *L);
  51
  52 /***
  53  calculate position for trapezoidal velocity trajectory
  54  @tparam number x difference between current time and initial time
  55  @treturn number position output
  56  @function pos
  57 */
  58 int liba_trajtrap_pos(lua_State *L);
  59
  60 /***
  61  calculate velocity for trapezoidal velocity trajectory
  62  @tparam number x difference between current time and initial time
  63  @treturn number velocity output
  64  @function vel
  65 */
  66 int liba_trajtrap_vel(lua_State *L);
  67
  68 /***
  69  calculate acceleration for trapezoidal velocity trajectory
  70  @tparam number x difference between current time and initial time
  71  @treturn number acceleration output
  72  @function acc
  73 */
  74 int liba_trajtrap_acc(lua_State *L);
  75
  76 #if defined(__cplusplus)
  77 } /* extern "C" */
  78 #endif /* __cplusplus */
  79
  80 #endif /* trajtrap.h */