Ruckig 0.14.0
Motion Generation for Robots and Machines
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Public Member Functions | Public Attributes | List of all members
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

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