Libbarrett: bt_profile Struct Reference

#include <profile.h>

Public Attributes
double	vel
double	acc
double	v_init
double	time_endup
double	time_startdown
double	time_end
double	s_endup
double	s_startdown
double	s_end

Detailed Description

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/>.

Barrett Technology Inc. 73 Chapel Street Newton, MA 02458 A profile is a mapping from elapsed time to location along an arc-length.

For now, there is only one kind of profile, which is a trapezoidal profile (in velocity), which accelerates with constant acceleration up to a given maximum velocity, and later deccelerates with the same acceleration. The profile supports starting at a non-zero velocity, but it always ends at zero velocity.

To create a profile, you pass the velocity and acceleration arguments, as well as the initial velocity and arc length.

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

include/barrett/cdlbt/profile.h

Public Attributes

Detailed Description