src/cdlbt/profile.c File Reference

#include <math.h>
#include <syslog.h>
#include <gsl/gsl_blas.h>
#include <barrett/cdlbt/profile.h>
#include <barrett/cdlbt/interp.h>

Functions
int	bt_profile_create (struct bt_profile **profileptr, double vel, double acc, double v_init, double length)
int	bt_profile_destroy (struct bt_profile *profile)
int	bt_profile_get (struct bt_profile *p, double *s, double t)

---

Detailed Description

Implementation of bt_profile, a trapezoidal profile mapping from time to arc-length.

Author:

Christopher Dellin

Date:

2008-2009

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Function Documentation

int bt_profile_create	(	struct bt_profile **	profileptr,
		double	vel,
		double	acc,
		double	v_init,
		double	length
	)

Copyright 2009-2014 Barrett Technology <support@barrett.com>

This file is part of libbarrett.

This version of libbarrett is free software: you can redistribute it and/or modify it under the terms of the GNU General Public License as published by the Free Software Foundation, either version 3 of the License, or (at your option) any later version.

This version of libbarrett is distributed in the hope that it will be useful, but WITHOUT ANY WARRANTY; without even the implied warranty of MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the GNU General Public License for more details.

You should have received a copy of the GNU General Public License along with this version of libbarrett. If not, see <http://www.gnu.org/licenses/>.

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int bt_profile_destroy

(

struct bt_profile *

profile

)

bt_profile destroy function

int bt_profile_get	(	struct bt_profile *	profile,
		double *	s,
		double	t
	)

Function to get the distance s at a given time t from a bt_profile