Trajectories

struct ProfileSetpoint

a setpoint during a given time

Public Functions

inline ProfileSetpoint direct(bool invert) const

Calculate the angle from the current position of the robot to a point.

Parameters:

invert – reverse

Returns:

the setpoint at the given point

enum class dlib::TrapezoidProfileStage

a class of trapezoid profile stages

Values:

enumerator Accelerating

enumerator Coasting

enumerator Decelerating

enumerator Done

class TrapezoidProfile

Calculate the angle from the current position of the robot to a point class for trapezoid profile methods.

Public Functions

inline TrapezoidProfileStage stage(double elapsed_time) const

Find the state of the robot during a motion profile movement.

Parameters:

elapsed_time – the elapsed time of the movement

Returns:

current state of the motion profile

inline ProfileSetpoint calculate(double elapsed_time) const

Find the state of the robot during a motion profile movement.

Parameters:

elapsed_time – the elapsed time of the movement

Returns:

current state of the motion profile

Public Static Functions

static inline TrapezoidProfile from_constraints(

double total_distance,

double max_velocity,

double max_acceleration,

)

create a trapezoid profile based on constraints

Parameters:

• total_distance –

• max_velocity –

• max_acceleration –

Returns:

TrapezoidProfile