Libbarrett: include/barrett/cdlbt/profile.h Source File

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00001 
00037 #ifndef BARRETT_CDLBT_PROFILE_H_
00038 #define BARRETT_CDLBT_PROFILE_H_
00039 #ifdef __cplusplus
00040 extern "C" {
00041 #endif
00042 
00043 #include <gsl/gsl_vector.h>
00044 #include <gsl/gsl_interp.h>
00045 
00057 struct bt_profile {
00058    double vel; /* Note - we may want this to be different for different dimensions */
00059    double acc;
00060    double v_init;
00061    double time_endup;
00062    double time_startdown;
00063    double time_end;
00064    double s_endup;
00065    double s_startdown;
00066    double s_end;
00067 };
00068 
00070 int bt_profile_create(struct bt_profile ** profileptr, double vel,
00071                       double acc, double v_init, double length);
00072 
00074 int bt_profile_destroy( struct bt_profile * profile );
00075 
00077 int bt_profile_get( struct bt_profile * profile, double * s, double t );
00078 
00079 #ifdef __cplusplus
00080 }
00081 #endif
00082 #endif /* BARRETT_CDLBT_PROFILE_H_ */