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/***
hepta polynomial trajectory
@classmod a.trajpoly7
*/
#ifndef LUA_LIBA_TRAJPOLY7_H
#define LUA_LIBA_TRAJPOLY7_H
#include "a.h"
/***
hepta polynomial trajectory
@field p coefficients of position
@field v coefficients of velocity
@field a coefficients of acceleration
@field j coefficients of jerk
@table a.trajpoly7
*/
#if defined(__cplusplus)
extern "C" {
#endif /* __cplusplus */
/***
constructor for hepta polynomial trajectory
@tparam number ts difference between final time and initial time
@tparam number p0 initial position
@tparam number p1 final position
@tparam[opt] number v0 initial velocity
@tparam[opt] number v1 final velocity
@tparam[opt] number a0 initial acceleration
@tparam[opt] number a1 final acceleration
@tparam[opt] number j0 initial jerk
@tparam[opt] number j1 final jerk
@treturn a.trajpoly7 hepta polynomial trajectory userdata
@function new
*/
int liba_trajpoly7_new(lua_State *L);
/***
generate for hepta polynomial trajectory
@tparam number ts difference between final time and initial time
@tparam number p0 initial position
@tparam number p1 final position
@tparam[opt] number v0 initial velocity
@tparam[opt] number v1 final velocity
@tparam[opt] number a0 initial acceleration
@tparam[opt] number a1 final acceleration
@tparam[opt] number j0 initial jerk
@tparam[opt] number j1 final jerk
@treturn a.trajpoly7 hepta polynomial trajectory userdata
@function gen
*/
int liba_trajpoly7_gen(lua_State *L);
/***
calculate position for hepta polynomial trajectory
@tparam number x difference between current time and initial time
@treturn number position output
@function pos
*/
int liba_trajpoly7_pos(lua_State *L);
/***
calculate velocity for hepta polynomial trajectory
@tparam number x difference between current time and initial time
@treturn number velocity output
@function vel
*/
int liba_trajpoly7_vel(lua_State *L);
/***
calculate acceleration for hepta polynomial trajectory
@tparam number x difference between current time and initial time
@treturn number acceleration output
@function acc
*/
int liba_trajpoly7_acc(lua_State *L);
/***
calculate jerk for hepta polynomial trajectory
@tparam number x difference between current time and initial time
@treturn number jerk output
@function jer
*/
int liba_trajpoly7_jer(lua_State *L);
#if defined(__cplusplus)
} /* extern "C" */
#endif /* __cplusplus */
#endif /* trajpoly7.h */