Stores optimal trajectores for an acceleration and velocity-bounded 1D system. More...

#include <ParabolicRamp.h>

Public Member Functions
void	SetConstant (Real x, Real t=0)
	Sets the ramp to a constant function for time t.

void	SetLinear (Real x0, Real x1, Real t)
	Sets the ramp to a linear function from x0 to x1 with time t.

bool	SolveMinTime (Real amax, Real vmax)
	Solves for minimum time given acceleration and velocity bounds.

bool	SolveMinTime2 (Real amax, Real vmax, Real tLowerBound)
	Solves for minimum time given acceleration and velocity bounds, min time.

bool	SolveMinAccel (Real endTime, Real vmax)
	Solves for minimum acceleration given end time and velocity bounds.

Real	SolveMinAccel2 (Real endTime, Real vmax)
	Same, but if fails, returns the minimum time > endTime.

void	SolveBraking (Real amax)
	Solves for the minimum-time braking trajectory starting from x0,dx0.

Real	Evaluate (Real t) const
	Evaluates the trajectory.

Real	Derivative (Real t) const
	Evaluates the derivative of the trajectory.

Real	Accel (Real t) const
	Evaluates the second derivative of the trajectory.

Real	EndTime () const
	Returns the time at which x1 is reached.

void	Dilate (Real timeScale)
	Scales time to slow down (value > 1) or speed up (< 1) the trajectory.

void	TrimFront (Real tcut)
	Trims off the front [0,tcut] of the trajectory.

void	TrimBack (Real tcut)
	Trims off the front [T-tcut,T] of the trajectory.

void	Bounds (Real &xmin, Real &xmax) const
	Returns the x bounds on the path.

void	Bounds (Real ta, Real tb, Real &xmin, Real &xmax) const
	Returns the x bounds for the given time interval.

void	DerivBounds (Real &vmin, Real &vmax) const
	Returns the v bounds on the path.

void	DerivBounds (Real ta, Real tb, Real &vmin, Real &vmax) const
	Returns the v bounds for the given time interval.

bool	IsValid () const
	Sanity check.

Public Attributes
Real	x0
	Input.

Real	dx0

Real	x1

Real	dx1

Real	tswitch1
	Calculated upon SolveX.

Real	tswitch2

Real	ttotal

Real	a1

Real	v

Real	a2

Detailed Description

Stores optimal trajectores for an acceleration and velocity-bounded 1D system.

Initialize the members x0 (start position), x1 (end position), dx0 (start velocity), and dx1 (end velocity) before calling the SolveX functions.

The documentation for this class was generated from the following file:

ParabolicRamp.h

Public Member Functions

Public Attributes

Detailed Description