lua/src/trajpoly3.h

   1 /***
   2  cubic polynomial trajectory
   3  @classmod a.trajpoly3
   4 */
   5
   6 #ifndef LUA_LIBA_TRAJPOLY3_H
   7 #define LUA_LIBA_TRAJPOLY3_H
   8
   9 #include "a.h"
  10
  11 /***
  12  cubic polynomial trajectory
  13  @field p coefficients of position
  14  @field v coefficients of velocity
  15  @field a coefficients of acceleration
  16  @table a.trajpoly3
  17 */
  18 #if defined(__cplusplus)
  19 extern "C" {
  20 #endif /* __cplusplus */
  21
  22 /***
  23  constructor for cubic 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  @treturn a.trajpoly3 cubic polynomial trajectory userdata
  30  @function new
  31 */
  32 int liba_trajpoly3_new(lua_State *L);
  33
  34 /***
  35  generate for cubic polynomial trajectory
  36  @tparam number ts difference between final time and initial time
  37  @tparam number p0 initial position
  38  @tparam number p1 final position
  39  @tparam[opt] number v0 initial velocity
  40  @tparam[opt] number v1 final velocity
  41  @treturn a.trajpoly3 cubic polynomial trajectory userdata
  42  @function gen
  43 */
  44 int liba_trajpoly3_gen(lua_State *L);
  45
  46 /***
  47  calculate position for cubic polynomial trajectory
  48  @tparam number x difference between current time and initial time
  49  @treturn number position output
  50  @function pos
  51 */
  52 int liba_trajpoly3_pos(lua_State *L);
  53
  54 /***
  55  calculate velocity for cubic polynomial trajectory
  56  @tparam number x difference between current time and initial time
  57  @treturn number velocity output
  58  @function vel
  59 */
  60 int liba_trajpoly3_vel(lua_State *L);
  61
  62 /***
  63  calculate acceleration for cubic polynomial trajectory
  64  @tparam number x difference between current time and initial time
  65  @treturn number acceleration output
  66  @function acc
  67 */
  68 int liba_trajpoly3_acc(lua_State *L);
  69
  70 #if defined(__cplusplus)
  71 } /* extern "C" */
  72 #endif /* __cplusplus */
  73
  74 #endif /* trajpoly3.h */