Three arrays of TypeIRMLMath::TypeIRMLPolynomial. More...

#include <TypeIRMLPolynomial.h>

Public Attributes
double	PolynomialTimes [MAXIMAL_NO_OF_POLYNOMIALS]
	An array of ending times in seconds.
TypeIRMLPolynomial	PositionPolynomial [MAXIMAL_NO_OF_POLYNOMIALS]
	An array of position polynomials.
TypeIRMLPolynomial	VelocityPolynomial [MAXIMAL_NO_OF_POLYNOMIALS]
	An array of velocity polynomials.
unsigned char	ValidPolynomials
	The number of polynomials in use (0 ... `MAXIMAL_NO_OF_POLYNOMIALS`).

Detailed Description

Three arrays of TypeIRMLMath::TypeIRMLPolynomial.

This data structure contains three arrays of polynomials required for the Type I On-Line Trajectory Generation algorithm. Furthermore, this data structure contains the times until each single three-tuple of polynomials is valid and the number of used polynomial three-tuples that are currently in use.

See also:: class TypeIRMLPolynomial

Definition at line 181 of file TypeIRMLPolynomial.h.

Member Data Documentation

double TypeIRMLMath::TypeIMotionPolynomials::PolynomialTimes[MAXIMAL_NO_OF_POLYNOMIALS]

An array of ending times in seconds.

An array of ending times in seconds, until which a polynomial is valid (e.g., PolynomialTimes[4] determines the ending time of the fourth polynomial).

Definition at line 195 of file TypeIRMLPolynomial.h.

TypeIRMLPolynomial TypeIRMLMath::TypeIMotionPolynomials::PositionPolynomial[MAXIMAL_NO_OF_POLYNOMIALS]

An array of position polynomials.

An array of position polynomials, that is, objects of the class TypeIRMLPolynomial, that is, $\ _{k}^{l}p_{i}(t)\ \forall\ l\ \in\ \{1,\,\dots,\,L\}$ , where $ L $ is value of MAXIMAL_NO_OF_POLYNOMIALS.

Definition at line 210 of file TypeIRMLPolynomial.h.

unsigned char TypeIRMLMath::TypeIMotionPolynomials::ValidPolynomials

The number of polynomials in use (0 ... MAXIMAL_NO_OF_POLYNOMIALS).

Definition at line 234 of file TypeIRMLPolynomial.h.

TypeIRMLPolynomial TypeIRMLMath::TypeIMotionPolynomials::VelocityPolynomial[MAXIMAL_NO_OF_POLYNOMIALS]

An array of velocity polynomials.

An array of velocity polynomials, that is, objects of the class TypeIRMLPolynomial, that is, $\ _{k}^{l}v_{i}(t)\ \forall\ l\ \in\ \{1,\,\dots,\,L\}$ , where $ L $ is value of MAXIMAL_NO_OF_POLYNOMIALS.

Definition at line 225 of file TypeIRMLPolynomial.h.

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

include/TypeIRMLPolynomial.h

Public Attributes

Detailed Description

Member Data Documentation