Klamp't
0.8.1
|
Solves for optimal trajectores for a velocity-bounded ND system. More...
#include <ParabolicRamp.h>
Public Member Functions | |
void | SetConstant (const Vector &x, Real t=0) |
void | SetLinear (const Vector &x0, const Vector &x1, Real t) |
bool | SolveMinTimeLinear (const Vector &amax, const Vector &vmax) |
bool | SolveMinTime (const Vector &amax, const Vector &vmax) |
bool | SolveMinAccel (const Vector &vmax, Real time) |
bool | SolveMinAccelLinear (const Vector &vmax, Real time) |
void | SolveBraking (const Vector &amax) |
void | Evaluate (Real t, Vector &x) const |
void | Derivative (Real t, Vector &dx) const |
void | Accel (Real t, Vector &ddx) const |
void | Output (Real dt, std::vector< Vector > &path) const |
void | Dilate (Real timeScale) |
void | TrimFront (Real tcut) |
void | TrimBack (Real tcut) |
void | Bounds (Vector &xmin, Vector &xmax) const |
void | Bounds (Real ta, Real tb, Vector &xmin, Vector &xmax) const |
void | DerivBounds (Vector &vmin, Vector &vmax) const |
void | DerivBounds (Real ta, Real tb, Vector &vmin, Vector &vmax) const |
bool | IsValid () const |
Public Attributes | |
Vector | x0 |
Input. | |
Vector | dx0 |
Vector | x1 |
Vector | dx1 |
Real | endTime |
Calculated upon SolveX. | |
std::vector< ParabolicRamp1D > | ramps |
Solves for optimal trajectores for a velocity-bounded ND system.
Methods are essentially the same as for ParabolicRamp1D.