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Fast Research Interface Library
Manual and Documentation
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00001 // ---------------------- Doxygen info ---------------------- 00047 // ---------------------------------------------------------- 00048 // For a convenient reading of this file's source code, 00049 // please use a tab width of four characters. 00050 // ---------------------------------------------------------- 00051 00052 00053 #ifndef __TypeIRMLProfiles__ 00054 #define __TypeIRMLProfiles__ 00055 00056 00057 #include <TypeIRMLPolynomial.h> 00058 00059 00060 namespace TypeIRMLMath 00061 { 00062 00063 // ---------------------- Doxygen info ---------------------- 00087 // ---------------------------------------------------------- 00088 double ProfileStep1PosTri( const double &CurrentPosition 00089 , const double &CurrentVelocity 00090 , const double &MaxAcceleration 00091 , const double &TargetPosition); 00092 00093 00094 // ---------------------- Doxygen info ---------------------- 00121 // ---------------------------------------------------------- 00122 double ProfileStep1PosTrap( const double &CurrentPosition 00123 , const double &CurrentVelocity 00124 , const double &MaxVelocity 00125 , const double &MaxAcceleration 00126 , const double &TargetPosition); 00127 00128 00129 // ---------------------- Doxygen info ---------------------- 00159 // ---------------------------------------------------------- 00160 void ProfileStep2V_To_Vmax( double *CurrentPosition 00161 , double *CurrentVelocity 00162 , const double &MaxVelocity 00163 , const double &MaxAcceleration 00164 , double *ElapsedTime 00165 , const bool &SignsAreInverted 00166 , TypeIRMLMath::TypeIMotionPolynomials *P ); 00167 00168 00169 // ---------------------- Doxygen info ---------------------- 00195 // ---------------------------------------------------------- 00196 void ProfileStep2V_To_Zero( double *CurrentPosition 00197 , double *CurrentVelocity 00198 , const double &MaxAcceleration 00199 , double *ElapsedTime 00200 , const bool &SignsAreInverted 00201 , TypeIRMLMath::TypeIMotionPolynomials *P ); 00202 00203 00204 // ---------------------- Doxygen info ---------------------- 00237 // ---------------------------------------------------------- 00238 void ProfileStep2PosTrap( double *CurrentPosition 00239 , double *CurrentVelocity 00240 , const double &MaxAcceleration 00241 , const double &TargetPosition 00242 , const double &SynchronizationTime 00243 , double *ElapsedTime 00244 , const bool &SignsAreInverted 00245 , TypeIRMLMath::TypeIMotionPolynomials *P ); 00246 00247 // ---------------------- Doxygen info ---------------------- 00280 // ---------------------------------------------------------- 00281 void ProfileStep2NegHldNegLin( double *CurrentPosition 00282 , double *CurrentVelocity 00283 , const double &MaxAcceleration 00284 , const double &TargetPosition 00285 , const double &SynchronizationTime 00286 , double *ElapsedTime 00287 , const bool &SignsAreInverted 00288 , TypeIRMLMath::TypeIMotionPolynomials *P ); 00289 00290 00291 } // namespace TypeIRMLMath 00292 00293 #endif