liba 0.1.15

An algorithm library based on C/C++
Documentation 
1
2
3
4
5
6
7
8
9
10
11
12
13
14
15
16
17
18
19
20
21
22
23
24
25
26
27
28
29
30
31
32
33
34
35
36
37
38
39
40
41
42
43
44
45
46
47
48
49
50
51
52
53
54
55
56
57
58
59
60
61
62
63
64
65
66
67
68
69
70
71
72
73
74
75
76
77
78
79
80
81
82
83
84
85
86
87
88
89
90
91
92
93
94
95
96
97
98
99
100
101
102
103
104
105
106
107
108
109
110
111
112
113
114
115
116
117
118
119
120
121
122
123
124
125
126
127
128
129
130
131
132
133
134
135
136
137
138
139
140
141
142
143
144
145
146
147
148
149
150
151
152
153
154
155
156
157
158
159
160
161
162
163
164
165
166
167
168
169
170
171
172
173
174
175
176
177
178
179
180
181
182
183
184
185
186
187
188
189
190
191
192
193
194
195
196
197
198
199
200
201
202
203
204
205
206
207
208
209
210
211
212
213
214
215
216
217
218
219
220
221
222
223
224
225
226
227
228
229
230
231
232
233
234
235
236
237
238
239
240
241
242
243
244
245
246
247
248
249
250
251
252
253
254
255
256
257

/***
 bell-shaped velocity trajectory
 @module liba.trajbell
*/

#include "trajbell.h"
#include "a/trajbell.h"

/***
 constructor for bell-shaped velocity trajectory
 @treturn a.trajbell bell-shaped velocity trajectory userdata
 @function new
*/
int liba_trajbell_new(lua_State *L)
{
    a_trajbell *const ctx = lua_newclass(L, a_trajbell);
    a_zero(ctx, sizeof(a_trajbell));
    lua_registry_get(L, liba_trajbell_new);
    lua_setmetatable(L, -2);
    return 1;
}

/***
 generate for bell-shaped velocity trajectory
 @tparam a.trajbell ctx bell-shaped velocity trajectory userdata
 @tparam number jm defines the maximum jerk during system operation
 @tparam number am defines the maximum acceleration during system operation
 @tparam number vm defines the maximum velocity during system operation
 @tparam number p0 defines the initial position
 @tparam number p1 defines the final position
 @tparam[opt] number v0 defines the initial velocity
 @tparam[opt] number v1 defines the final velocity
 @treturn number total duration
 @function gen
*/
int liba_trajbell_gen(lua_State *L)
{
    a_float v0 = 0, v1 = 0;
    a_float jm, am, vm, p0, p1;
    int const top = lua_gettop(L);
    a_trajbell *const ctx = (a_trajbell *)lua_touserdata(L, 1);
    if (ctx)
    {
        jm = (a_float)luaL_checknumber(L, 2);
        am = (a_float)luaL_checknumber(L, 3);
        vm = (a_float)luaL_checknumber(L, 4);
        p0 = (a_float)luaL_checknumber(L, 5);
        p1 = (a_float)luaL_checknumber(L, 6);
        if (top >= 7) { v0 = (a_float)luaL_checknumber(L, 7); }
        if (top >= 8) { v1 = (a_float)luaL_checknumber(L, 8); }
        a_trajbell_gen(ctx, jm, am, vm, p0, p1, v0, v1);
        lua_pushnumber(L, (lua_Number)ctx->t);
        return 1;
    }
    return 0;
}

/***
 calculate position for bell-shaped velocity trajectory
 @tparam a.trajbell ctx bell-shaped velocity trajectory userdata
 @tparam number x difference between current time and initial time
 @treturn number position output
 @function pos
*/
int liba_trajbell_pos(lua_State *L)
{
    a_trajbell const *const ctx = (a_trajbell const *)lua_touserdata(L, 1);
    if (ctx)
    {
        a_float const x = (a_float)luaL_checknumber(L, 2);
        lua_pushnumber(L, (lua_Number)a_trajbell_pos(ctx, x));
        return 1;
    }
    return 0;
}

/***
 calculate velocity for bell-shaped velocity trajectory
 @tparam a.trajbell ctx bell-shaped velocity trajectory userdata
 @tparam number x difference between current time and initial time
 @treturn number velocity output
 @function vel
*/
int liba_trajbell_vel(lua_State *L)
{
    a_trajbell const *const ctx = (a_trajbell const *)lua_touserdata(L, 1);
    if (ctx)
    {
        a_float const x = (a_float)luaL_checknumber(L, 2);
        lua_pushnumber(L, (lua_Number)a_trajbell_vel(ctx, x));
        return 1;
    }
    return 0;
}

/***
 calculate acceleration for bell-shaped velocity trajectory
 @tparam a.trajbell ctx bell-shaped velocity trajectory userdata
 @tparam number x difference between current time and initial time
 @treturn number acceleration output
 @function acc
*/
int liba_trajbell_acc(lua_State *L)
{
    a_trajbell const *const ctx = (a_trajbell const *)lua_touserdata(L, 1);
    if (ctx)
    {
        a_float const x = (a_float)luaL_checknumber(L, 2);
        lua_pushnumber(L, (lua_Number)a_trajbell_acc(ctx, x));
        return 1;
    }
    return 0;
}

/***
 calculate jerk for bell-shaped velocity trajectory
 @tparam a.trajbell ctx bell-shaped velocity trajectory userdata
 @tparam number x difference between current time and initial time
 @treturn number jerk output
 @function jer
*/
int liba_trajbell_jer(lua_State *L)
{
    a_trajbell const *const ctx = (a_trajbell const *)lua_touserdata(L, 1);
    if (ctx)
    {
        a_float const x = (a_float)luaL_checknumber(L, 2);
        lua_pushnumber(L, (lua_Number)a_trajbell_jer(ctx, x));
        return 1;
    }
    return 0;
}

static int liba_trajbell_set(lua_State *L)
{
    switch (a_hash_bkdr(lua_tostring(L, 2), 0))
    {
    case 0xE8859EEB: // __name
    case 0xA65758B2: // __index
    case 0xAEB551C6: // __newindex
        break;
    default:
        lua_getmetatable(L, 1);
        lua_replace(L, 1);
        lua_rawset(L, 1);
    }
    return 0;
}

static int liba_trajbell_get(lua_State *L)
{
    a_trajbell const *const ctx = (a_trajbell const *)lua_touserdata(L, 1);
    switch (a_hash_bkdr(lua_tostring(L, 2), 0))
    {
    case 0x00000074: // t
        lua_pushnumber(L, (lua_Number)ctx->t);
        break;
    case 0x00003BD2: // tv
        lua_pushnumber(L, (lua_Number)ctx->tv);
        break;
    case 0x00003BBD: // ta
        lua_pushnumber(L, (lua_Number)ctx->ta);
        break;
    case 0x00003BC0: // td
        lua_pushnumber(L, (lua_Number)ctx->td);
        break;
    case 0x001E9221: // taj
        lua_pushnumber(L, (lua_Number)ctx->taj);
        break;
    case 0x001E93AA: // tdj
        lua_pushnumber(L, (lua_Number)ctx->tdj);
        break;
    case 0x00003980: // p0
        lua_pushnumber(L, (lua_Number)ctx->p0);
        break;
    case 0x00003981: // p1
        lua_pushnumber(L, (lua_Number)ctx->p1);
        break;
    case 0x00003C92: // v0
        lua_pushnumber(L, (lua_Number)ctx->v0);
        break;
    case 0x00003C93: // v1
        lua_pushnumber(L, (lua_Number)ctx->v1);
        break;
    case 0x00003CCF: // vm
        lua_pushnumber(L, (lua_Number)ctx->vm);
        break;
    case 0x000036AB: // jm
        lua_pushnumber(L, (lua_Number)ctx->jm);
        break;
    case 0x00003210: // am
        lua_pushnumber(L, (lua_Number)ctx->am);
        break;
    case 0x00003399: // dm
        lua_pushnumber(L, (lua_Number)ctx->dm);
        break;
    case 0xA65758B2: // __index
        lua_registry_get(L, liba_trajbell_new);
        lua_num_set(L, -1, "t", ctx->t);
        lua_num_set(L, -1, "tv", ctx->tv);
        lua_num_set(L, -1, "ta", ctx->ta);
        lua_num_set(L, -1, "td", ctx->td);
        lua_num_set(L, -1, "taj", ctx->taj);
        lua_num_set(L, -1, "tdj", ctx->tdj);
        lua_num_set(L, -1, "p0", ctx->p0);
        lua_num_set(L, -1, "p1", ctx->p1);
        lua_num_set(L, -1, "v0", ctx->v0);
        lua_num_set(L, -1, "v1", ctx->v1);
        lua_num_set(L, -1, "vm", ctx->vm);
        lua_num_set(L, -1, "jm", ctx->jm);
        lua_num_set(L, -1, "am", ctx->am);
        lua_num_set(L, -1, "dm", ctx->dm);
        break;
    default:
        lua_getmetatable(L, 1);
        lua_replace(L, 1);
        lua_rawget(L, 1);
    }
    return 1;
}

static int liba_trajbell_(lua_State *L)
{
    lua_pushcfunction(L, liba_trajbell_new);
    lua_replace(L, 1);
    lua_call(L, lua_gettop(L) - 1, 1);
    return 1;
}

int luaopen_liba_trajbell(lua_State *L)
{
    static lua_fun const funcs[] = {
        {"new", liba_trajbell_new},
        {"gen", liba_trajbell_gen},
        {"pos", liba_trajbell_pos},
        {"vel", liba_trajbell_vel},
        {"acc", liba_trajbell_acc},
        {"jer", liba_trajbell_jer},
    };
    lua_createtable(L, 0, A_LEN(funcs));
    lua_fun_reg(L, -1, funcs, A_LEN(funcs));
    lua_createtable(L, 0, 1);
    lua_fun_set(L, -1, "__call", liba_trajbell_);
    lua_setmetatable(L, -2);

    static lua_fun const metas[] = {
        {"__newindex", liba_trajbell_set},
        {"__index", liba_trajbell_get},
    };
    lua_createtable(L, 0, A_LEN(metas) + A_LEN(funcs) + 1);
    lua_fun_reg(L, -1, metas, A_LEN(metas));
    lua_fun_reg(L, -1, funcs, A_LEN(funcs));
    lua_str_set(L, -1, "__name", "a.trajbell");
    lua_registry_set(L, liba_trajbell_new);

    return 1;
}