lua/src/trajbell.h

   1 /***
   2  bell-shaped velocity trajectory
   3  @classmod a.trajbell
   4 */
   5
   6 #ifndef LUA_LIBA_TRAJBELL_H
   7 #define LUA_LIBA_TRAJBELL_H
   8
   9 #include "a.h"
  10
  11 /***
  12  bell-shaped velocity trajectory
  13  @field t total duration
  14  @field tv constant velocity phase
  15  @field ta acceleration phase
  16  @field td deceleration phase
  17  @field taj time-interval in which the jerk is constant (j max or j min ) during the acceleration phase
  18  @field tdj time-interval in which the jerk is constant (j max or j min ) during the deceleration phase
  19  @field p0 initial position
  20  @field p1 final position
  21  @field v0 initial velocity
  22  @field v1 final velocity
  23  @field vm maximum velocity
  24  @field jm maximum jerk
  25  @field am maximum acceleration
  26  @field dm maximum deceleration
  27  @table a.trajbell
  28 */
  29 #if defined(__cplusplus)
  30 extern "C" {
  31 #endif /* __cplusplus */
  32
  33 /***
  34  constructor for bell-shaped velocity trajectory
  35  @treturn a.trajbell bell-shaped velocity trajectory userdata
  36  @function new
  37 */
  38 int liba_trajbell_new(lua_State *L);
  39
  40 /***
  41  generate for bell-shaped velocity trajectory
  42  @tparam number jm defines the maximum jerk during system operation
  43  @tparam number am defines the maximum acceleration during system operation
  44  @tparam number vm defines the maximum velocity during system operation
  45  @tparam number p0 defines the initial position
  46  @tparam number p1 defines the final position
  47  @tparam[opt] number v0 defines the initial velocity
  48  @tparam[opt] number v1 defines the final velocity
  49  @treturn number total duration
  50  @function gen
  51 */
  52 int liba_trajbell_gen(lua_State *L);
  53
  54 /***
  55  calculate position for bell-shaped velocity trajectory
  56  @tparam number x difference between current time and initial time
  57  @treturn number position output
  58  @function pos
  59 */
  60 int liba_trajbell_pos(lua_State *L);
  61
  62 /***
  63  calculate velocity for bell-shaped velocity trajectory
  64  @tparam number x difference between current time and initial time
  65  @treturn number velocity output
  66  @function vel
  67 */
  68 int liba_trajbell_vel(lua_State *L);
  69
  70 /***
  71  calculate acceleration for bell-shaped velocity trajectory
  72  @tparam number x difference between current time and initial time
  73  @treturn number acceleration output
  74  @function acc
  75 */
  76 int liba_trajbell_acc(lua_State *L);
  77
  78 /***
  79  calculate jerk for bell-shaped velocity trajectory
  80  @tparam number x difference between current time and initial time
  81  @treturn number jerk output
  82  @function jer
  83 */
  84 int liba_trajbell_jer(lua_State *L);
  85
  86 #if defined(__cplusplus)
  87 } /* extern "C" */
  88 #endif /* __cplusplus */
  89
  90 #endif /* trajbell.h */