Struct trajtrap

#[repr(C)]
pub struct trajtrap {
    pub t: float,
    pub p0: float,
    pub p1: float,
    pub v0: float,
    pub v1: float,
    pub vc: float,
    pub ta: float,
    pub td: float,
    pub pa: float,
    pub pd: float,
    pub ac: float,
    pub de: float,
}

trapezoidal velocity trajectory

Fields

t: float

total duration

p0: float

initial position

p1: float

final position

v0: float

initial velocity

v1: float

final velocity

vc: float

constant velocity

ta: float

time before constant velocity

td: float

time after constant velocity

pa: float

position before constant velocity

pd: float

position after constant velocity

ac: float

acceleration before constant velocity

de: float

acceleration after constant velocity

Implementations

impl trajtrap

pub fn new() -> Self

initialize for trapezoidal velocity trajectory

pub fn gen( &mut self, vm: float, ac: float, de: float, p0: float, p1: float, v0: float, v1: float, ) -> float

generate for trapezoidal velocity trajectory

pub fn pos(&mut self, x: float) -> float

calculate position for trapezoidal velocity trajectory

pub fn vel(&mut self, x: float) -> float

calculate velocity for trapezoidal velocity trajectory

pub fn acc(&mut self, x: float) -> float

calculate acceleration for trapezoidal velocity trajectory

Trait Implementations

impl Default for trajtrap

fn default() -> Self

Returns the “default value” for a type.