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 third-order position interface.
void	get_second_order_position_brake_trajectory (double v0, double vMax, double vMin, double aMax, double aMin)
	Calculate brake trajectory for second-order position interface.
void	get_velocity_brake_trajectory (double a0, double aMax, double aMin, double jMax)
	Calculate brake trajectory for third-order velocity interface.
void	get_second_order_velocity_brake_trajectory ()
	Calculate brake trajectory for second-order velocity interface.
void	finalize (double &ps, double &vs, double &as)
	Finalize third-order braking by integrating along kinematic state.
void	finalize_second_order (double &ps, double &vs, double &as)
	Finalize second-order braking by integrating along kinematic state.

Public Attributes
double	duration {0.0}
	Overall duration.
std::array< double, 2 >	t
	Profile information for a two-step profile.
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 third-order braking by integrating along kinematic state.

finalize_second_order()

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

inline

Finalize second-order braking 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 third-order position interface.

get_second_order_position_brake_trajectory()

void ruckig::BrakeProfile::get_second_order_position_brake_trajectory	(	double	v0,
		double	vMax,
		double	vMin,
		double	aMax,
		double	aMin
	)

Calculate brake trajectory for second-order position interface.

get_second_order_velocity_brake_trajectory()

void ruckig::BrakeProfile::get_second_order_velocity_brake_trajectory ( )

inline

Calculate brake trajectory for second-order velocity interface.

get_velocity_brake_trajectory()

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

Calculate brake trajectory for third-order 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

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

• /include/ruckig/brake.hpp
• /src/ruckig/brake.cpp