ruckig::BrakeProfile Struct Reference

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

#include <brake.hpp>

Public Member Functions
	BrakeProfile ()
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.
void	scale (double position_scale, double time_scale)
	Scale with the position and time of the input (only in Ruckig Pro)

Public Attributes
double	duration
	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.

Constructor & Destructor Documentation

BrakeProfile()

ruckig::BrakeProfile::BrakeProfile ( )

inline

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.

scale()

void ruckig::BrakeProfile::scale ( double  position_scale, double  time_scale  )

inline

Scale with the position and time of the input (only in Ruckig Pro)

Member Data Documentation

a

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

duration

double ruckig::BrakeProfile::duration

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 struct was generated from the following file:

• /include/ruckig/brake.hpp