lua/src/trajpoly7.h

   1 /***
   2  hepta polynomial trajectory
   3  @classmod a.trajpoly7
   4 */
   5
   6 #ifndef LUA_LIBA_TRAJPOLY7_H
   7 #define LUA_LIBA_TRAJPOLY7_H
   8
   9 #include "a.h"
  10
  11 /***
  12  hepta polynomial trajectory
  13  @field p coefficients of position
  14  @field v coefficients of velocity
  15  @field a coefficients of acceleration
  16  @field j coefficients of jerk
  17  @table a.trajpoly7
  18 */
  19 #if defined(__cplusplus)
  20 extern "C" {
  21 #endif /* __cplusplus */
  22
  23 /***
  24  constructor for hepta polynomial trajectory
  25  @tparam number ts difference between final time and initial time
  26  @tparam number p0 initial position
  27  @tparam number p1 final position
  28  @tparam[opt] number v0 initial velocity
  29  @tparam[opt] number v1 final velocity
  30  @tparam[opt] number a0 initial acceleration
  31  @tparam[opt] number a1 final acceleration
  32  @tparam[opt] number j0 initial jerk
  33  @tparam[opt] number j1 final jerk
  34  @treturn a.trajpoly7 hepta polynomial trajectory userdata
  35  @function new
  36 */
  37 int liba_trajpoly7_new(lua_State *L);
  38
  39 /***
  40  generate for hepta polynomial trajectory
  41  @tparam number ts difference between final time and initial time
  42  @tparam number p0 initial position
  43  @tparam number p1 final position
  44  @tparam[opt] number v0 initial velocity
  45  @tparam[opt] number v1 final velocity
  46  @tparam[opt] number a0 initial acceleration
  47  @tparam[opt] number a1 final acceleration
  48  @tparam[opt] number j0 initial jerk
  49  @tparam[opt] number j1 final jerk
  50  @treturn a.trajpoly7 hepta polynomial trajectory userdata
  51  @function gen
  52 */
  53 int liba_trajpoly7_gen(lua_State *L);
  54
  55 /***
  56  calculate position for hepta polynomial trajectory
  57  @tparam number x difference between current time and initial time
  58  @treturn number position output
  59  @function pos
  60 */
  61 int liba_trajpoly7_pos(lua_State *L);
  62
  63 /***
  64  calculate velocity for hepta polynomial trajectory
  65  @tparam number x difference between current time and initial time
  66  @treturn number velocity output
  67  @function vel
  68 */
  69 int liba_trajpoly7_vel(lua_State *L);
  70
  71 /***
  72  calculate acceleration for hepta polynomial trajectory
  73  @tparam number x difference between current time and initial time
  74  @treturn number acceleration output
  75  @function acc
  76 */
  77 int liba_trajpoly7_acc(lua_State *L);
  78
  79 /***
  80  calculate jerk for hepta polynomial trajectory
  81  @tparam number x difference between current time and initial time
  82  @treturn number jerk output
  83  @function jer
  84 */
  85 int liba_trajpoly7_jer(lua_State *L);
  86
  87 #if defined(__cplusplus)
  88 } /* extern "C" */
  89 #endif /* __cplusplus */
  90
  91 #endif /* trajpoly7.h */