lua/src/trajpoly7.c

   1 /***
   2  hepta polynomial trajectory
   3  @module liba.trajpoly7
   4 */
   5
   6 #include "trajpoly7.h"
   7 #include "a/trajpoly7.h"
   8
   9 static int liba_trajpoly7_gen_(lua_State *L, a_trajpoly7 *ctx, int arg, int top)
  10 {
  11     a_float p0 = 0, v0 = 0, a0 = 0, j0 = 0;
  12     a_float p1 = 0, v1 = 0, a1 = 0, j1 = 0;
  13     a_float ts = 0;
  14     switch (top)
  15     {
  16     default:
  17     case 9:
  18         j1 = (a_float)luaL_checknumber(L, arg + 9);
  19         A_FALLTHROUGH;
  20     case 8:
  21         j0 = (a_float)luaL_checknumber(L, arg + 8);
  22         A_FALLTHROUGH;
  23     case 7:
  24         a1 = (a_float)luaL_checknumber(L, arg + 7);
  25         A_FALLTHROUGH;
  26     case 6:
  27         a0 = (a_float)luaL_checknumber(L, arg + 6);
  28         A_FALLTHROUGH;
  29     case 5:
  30         v1 = (a_float)luaL_checknumber(L, arg + 5);
  31         A_FALLTHROUGH;
  32     case 4:
  33         v0 = (a_float)luaL_checknumber(L, arg + 4);
  34         A_FALLTHROUGH;
  35     case 3:
  36         p1 = (a_float)luaL_checknumber(L, arg + 3);
  37         A_FALLTHROUGH;
  38     case 2:
  39         p0 = (a_float)luaL_checknumber(L, arg + 2);
  40         A_FALLTHROUGH;
  41     case 1:
  42         ts = (a_float)luaL_checknumber(L, arg + 1);
  43         A_FALLTHROUGH;
  44     case 0:
  45         a_trajpoly7_gen(ctx, ts, p0, p1, v0, v1, a0, a1, j0, j1);
  46     }
  47     return 1;
  48 }
  49
  50 /***
  51  constructor for hepta polynomial trajectory
  52  @tparam number ts difference between final time and initial time
  53  @tparam number p0 initial position
  54  @tparam number p1 final position
  55  @tparam[opt] number v0 initial velocity
  56  @tparam[opt] number v1 final velocity
  57  @tparam[opt] number a0 initial acceleration
  58  @tparam[opt] number a1 final acceleration
  59  @tparam[opt] number j0 initial jerk
  60  @tparam[opt] number j1 final jerk
  61  @treturn a.trajpoly7 hepta polynomial trajectory userdata
  62  @function new
  63 */
  64 int liba_trajpoly7_new(lua_State *L)
  65 {
  66     int const top = lua_gettop(L);
  67     if (top > 2)
  68     {
  69         a_trajpoly7 *const ctx = lua_newclass(L, a_trajpoly7);
  70         lua_registry_get(L, liba_trajpoly7_new);
  71         lua_setmetatable(L, -2);
  72         return liba_trajpoly7_gen_(L, ctx, 0, top);
  73     }
  74     return 0;
  75 }
  76
  77 /***
  78  generate for hepta polynomial trajectory
  79  @tparam a.trajpoly7 ctx hepta polynomial trajectory userdata
  80  @tparam number ts difference between final time and initial time
  81  @tparam number p0 initial position
  82  @tparam number p1 final position
  83  @tparam[opt] number v0 initial velocity
  84  @tparam[opt] number v1 final velocity
  85  @tparam[opt] number a0 initial acceleration
  86  @tparam[opt] number a1 final acceleration
  87  @tparam[opt] number j0 initial jerk
  88  @tparam[opt] number j1 final jerk
  89  @treturn a.trajpoly7 hepta polynomial trajectory userdata
  90  @function gen
  91 */
  92 int liba_trajpoly7_gen(lua_State *L)
  93 {
  94     int const top = lua_gettop(L);
  95     if (top > 3)
  96     {
  97         luaL_checktype(L, 1, LUA_TUSERDATA);
  98         a_trajpoly7 *const ctx = (a_trajpoly7 *)lua_touserdata(L, 1);
  99         lua_pushvalue(L, 1);
 100         return liba_trajpoly7_gen_(L, ctx, 1, top - 1);
 101     }
 102     return 0;
 103 }
 104
 105 /***
 106  calculate position for hepta polynomial trajectory
 107  @tparam a.trajpoly7 ctx hepta polynomial trajectory userdata
 108  @tparam number x difference between current time and initial time
 109  @treturn number position output
 110  @function pos
 111 */
 112 int liba_trajpoly7_pos(lua_State *L)
 113 {
 114     a_trajpoly7 const *const ctx = (a_trajpoly7 const *)lua_touserdata(L, 1);
 115     if (ctx)
 116     {
 117         a_float const x = (a_float)luaL_checknumber(L, 2);
 118         lua_pushnumber(L, (lua_Number)a_trajpoly7_pos(ctx, x));
 119         return 1;
 120     }
 121     return 0;
 122 }
 123
 124 /***
 125  calculate velocity for hepta polynomial trajectory
 126  @tparam a.trajpoly7 ctx hepta polynomial trajectory userdata
 127  @tparam number x difference between current time and initial time
 128  @treturn number velocity output
 129  @function vel
 130 */
 131 int liba_trajpoly7_vel(lua_State *L)
 132 {
 133     a_trajpoly7 const *const ctx = (a_trajpoly7 const *)lua_touserdata(L, 1);
 134     if (ctx)
 135     {
 136         a_float const x = (a_float)luaL_checknumber(L, 2);
 137         lua_pushnumber(L, (lua_Number)a_trajpoly7_vel(ctx, x));
 138         return 1;
 139     }
 140     return 0;
 141 }
 142
 143 /***
 144  calculate acceleration for hepta polynomial trajectory
 145  @tparam a.trajpoly7 ctx hepta polynomial trajectory userdata
 146  @tparam number x difference between current time and initial time
 147  @treturn number acceleration output
 148  @function acc
 149 */
 150 int liba_trajpoly7_acc(lua_State *L)
 151 {
 152     a_trajpoly7 const *const ctx = (a_trajpoly7 const *)lua_touserdata(L, 1);
 153     if (ctx)
 154     {
 155         a_float const x = (a_float)luaL_checknumber(L, 2);
 156         lua_pushnumber(L, (lua_Number)a_trajpoly7_acc(ctx, x));
 157         return 1;
 158     }
 159     return 0;
 160 }
 161
 162 /***
 163  calculate jerk for hepta polynomial trajectory
 164  @tparam a.trajpoly7 ctx hepta polynomial trajectory userdata
 165  @tparam number x difference between current time and initial time
 166  @treturn number jerk output
 167  @function jer
 168 */
 169 int liba_trajpoly7_jer(lua_State *L)
 170 {
 171     a_trajpoly7 const *const ctx = (a_trajpoly7 const *)lua_touserdata(L, 1);
 172     if (ctx)
 173     {
 174         a_float const x = (a_float)luaL_checknumber(L, 2);
 175         lua_pushnumber(L, (lua_Number)a_trajpoly7_jer(ctx, x));
 176         return 1;
 177     }
 178     return 0;
 179 }
 180
 181 static int liba_trajpoly7_set(lua_State *L)
 182 {
 183     switch (a_hash_bkdr(lua_tostring(L, 2), 0))
 184     {
 185     case 0xE8859EEB: // __name
 186     case 0xA65758B2: // __index
 187     case 0xAEB551C6: // __newindex
 188         break;
 189     default:
 190         lua_getmetatable(L, 1);
 191         lua_replace(L, 1);
 192         lua_rawset(L, 1);
 193     }
 194     return 0;
 195 }
 196
 197 static int liba_trajpoly7_get(lua_State *L)
 198 {
 199     a_trajpoly7 const *const ctx = (a_trajpoly7 const *)lua_touserdata(L, 1);
 200     switch (a_hash_bkdr(lua_tostring(L, 2), 0))
 201     {
 202     case 0x00000070: // p
 203         lua_array_num_new(L, ctx->p, A_LEN(ctx->p));
 204         break;
 205     case 0x00000076: // v
 206         lua_array_num_new(L, ctx->v, A_LEN(ctx->v));
 207         break;
 208     case 0x00000061: // a
 209         lua_array_num_new(L, ctx->a, A_LEN(ctx->a));
 210         break;
 211     case 0x0000006A: // j
 212         lua_array_num_new(L, ctx->j, A_LEN(ctx->j));
 213         break;
 214     case 0xA65758B2: // __index
 215         lua_registry_get(L, liba_trajpoly7_new);
 216         lua_pushstring(L, "p");
 217         lua_array_num_new(L, ctx->p, A_LEN(ctx->p));
 218         lua_rawset(L, -3);
 219         lua_pushstring(L, "v");
 220         lua_array_num_new(L, ctx->v, A_LEN(ctx->v));
 221         lua_rawset(L, -3);
 222         lua_pushstring(L, "a");
 223         lua_array_num_new(L, ctx->a, A_LEN(ctx->a));
 224         lua_rawset(L, -3);
 225         lua_pushstring(L, "j");
 226         lua_array_num_new(L, ctx->j, A_LEN(ctx->j));
 227         lua_rawset(L, -3);
 228         break;
 229     default:
 230         lua_getmetatable(L, 1);
 231         lua_replace(L, 1);
 232         lua_rawget(L, 1);
 233     }
 234     return 1;
 235 }
 236
 237 static int liba_trajpoly7_(lua_State *L)
 238 {
 239     lua_pushcfunction(L, liba_trajpoly7_new);
 240     lua_replace(L, 1);
 241     lua_call(L, lua_gettop(L) - 1, 1);
 242     return 1;
 243 }
 244
 245 int luaopen_liba_trajpoly7(lua_State *L)
 246 {
 247     static lua_fun const funcs[] = {
 248         {"new", liba_trajpoly7_new},
 249         {"gen", liba_trajpoly7_gen},
 250         {"pos", liba_trajpoly7_pos},
 251         {"vel", liba_trajpoly7_vel},
 252         {"acc", liba_trajpoly7_acc},
 253         {"jer", liba_trajpoly7_jer},
 254     };
 255     lua_createtable(L, 0, A_LEN(funcs));
 256     lua_fun_reg(L, -1, funcs, A_LEN(funcs));
 257     lua_createtable(L, 0, 1);
 258     lua_fun_set(L, -1, "__call", liba_trajpoly7_);
 259     lua_setmetatable(L, -2);
 260
 261     static lua_fun const metas[] = {
 262         {"__newindex", liba_trajpoly7_set},
 263         {"__index", liba_trajpoly7_get},
 264     };
 265     lua_createtable(L, 0, A_LEN(metas) + A_LEN(funcs) + 1);
 266     lua_fun_reg(L, -1, metas, A_LEN(metas));
 267     lua_fun_reg(L, -1, funcs, A_LEN(funcs));
 268     lua_str_set(L, -1, "__name", "a.trajpoly7");
 269     lua_registry_set(L, liba_trajpoly7_new);
 270
 271     return 1;
 272 }