lua/src/trajpoly5.h

   1 /***
   2  quintic polynomial trajectory
   3  @classmod a.trajpoly5
   4 */
   5
   6 #ifndef LUA_LIBA_TRAJPOLY5_H
   7 #define LUA_LIBA_TRAJPOLY5_H
   8
   9 #include "a.h"
  10
  11 /***
  12  quintic polynomial trajectory
  13  @field p coefficients of position
  14  @field v coefficients of velocity
  15  @field a coefficients of acceleration
  16  @table a.trajpoly5
  17 */
  18 #if defined(__cplusplus)
  19 extern "C" {
  20 #endif /* __cplusplus */
  21
  22 /***
  23  constructor for quintic polynomial trajectory
  24  @tparam number ts difference between final time and initial time
  25  @tparam number p0 initial position
  26  @tparam number p1 final position
  27  @tparam[opt] number v0 initial velocity
  28  @tparam[opt] number v1 final velocity
  29  @tparam[opt] number a0 initial acceleration
  30  @tparam[opt] number a1 final acceleration
  31  @treturn a.trajpoly5 quintic polynomial trajectory userdata
  32  @function new
  33 */
  34 int liba_trajpoly5_new(lua_State *L);
  35
  36 /***
  37  generate for quintic polynomial trajectory
  38  @tparam number ts difference between final time and initial time
  39  @tparam number p0 initial position
  40  @tparam number p1 final position
  41  @tparam[opt] number v0 initial velocity
  42  @tparam[opt] number v1 final velocity
  43  @tparam[opt] number a0 initial acceleration
  44  @tparam[opt] number a1 final acceleration
  45  @treturn a.trajpoly5 quintic polynomial trajectory userdata
  46  @function gen
  47 */
  48 int liba_trajpoly5_gen(lua_State *L);
  49
  50 /***
  51  calculate position for quintic polynomial trajectory
  52  @tparam number x difference between current time and initial time
  53  @treturn number position output
  54  @function pos
  55 */
  56 int liba_trajpoly5_pos(lua_State *L);
  57
  58 /***
  59  calculate velocity for quintic polynomial trajectory
  60  @tparam number x difference between current time and initial time
  61  @treturn number velocity output
  62  @function vel
  63 */
  64 int liba_trajpoly5_vel(lua_State *L);
  65
  66 /***
  67  calculate acceleration for quintic polynomial trajectory
  68  @tparam number x difference between current time and initial time
  69  @treturn number acceleration output
  70  @function acc
  71 */
  72 int liba_trajpoly5_acc(lua_State *L);
  73
  74 #if defined(__cplusplus)
  75 } /* extern "C" */
  76 #endif /* __cplusplus */
  77
  78 #endif /* trajpoly5.h */