Ruckig 0.6.5
Motion Generation for Robots and Machines
Public Member Functions | Public Attributes | List of all members
ruckig::BrakeProfile Class Reference

Calculates (pre- or post-) profile to get current or final state below the limits. More...

#include <brake.hpp>

Public Member Functions

void get_position_brake_trajectory (double v0, double a0, double vMax, double vMin, double aMax, double aMin, double jMax)
 Calculate brake trajectory for position interface. More...
 
void get_velocity_brake_trajectory (double a0, double aMax, double aMin, double jMax)
 Calculate brake trajectory for velocity interface. More...
 
void finalize (double &ps, double &vs, double &as)
 Finalize by integrating along kinematic state. More...
 

Public Attributes

double duration {0.0}
 Overall duration. More...
 
std::array< double, 2 > t
 Profile information for a two-step profile. More...
 
std::array< double, 2 > j
 
std::array< double, 2 > a
 
std::array< double, 2 > v
 
std::array< double, 2 > p
 

Detailed Description

Calculates (pre- or post-) profile to get current or final state below the limits.

Member Function Documentation

◆ finalize()

void ruckig::BrakeProfile::finalize ( double &  ps,
double &  vs,
double &  as 
)
inline

Finalize by integrating along kinematic state.

◆ get_position_brake_trajectory()

void ruckig::BrakeProfile::get_position_brake_trajectory ( double  v0,
double  a0,
double  vMax,
double  vMin,
double  aMax,
double  aMin,
double  jMax 
)

Calculate brake trajectory for position interface.

◆ get_velocity_brake_trajectory()

void ruckig::BrakeProfile::get_velocity_brake_trajectory ( double  a0,
double  aMax,
double  aMin,
double  jMax 
)

Calculate brake trajectory for velocity interface.

Member Data Documentation

◆ a

std::array<double, 2> ruckig::BrakeProfile::a

◆ duration

double ruckig::BrakeProfile::duration {0.0}

Overall duration.

◆ j

std::array<double, 2> ruckig::BrakeProfile::j

◆ p

std::array<double, 2> ruckig::BrakeProfile::p

◆ t

std::array<double, 2> ruckig::BrakeProfile::t

Profile information for a two-step profile.

◆ v

std::array<double, 2> ruckig::BrakeProfile::v

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