TODO: document the algorithm |T1| T2 |T3|

__| |____ __ Jerk |_|

/ \ Acceleration ___/ ___

;" / / Velocity ; -—". More...

Public Member Functions
	VelocitySmoothing (float initial_accel=0.f, float initial_vel=0.f, float initial_pos=0.f)

void	reset (float accel, float vel, float pos)
	Reset the state. More...

void	updateDurations (float dt, float vel_setpoint)
	Compute T1, T2, T3 depending on the current state and velocity setpoint. More...

void	integrate (float &accel_setpoint_smooth, float &vel_setpoint_smooth, float &pos_setpoint_smooth)
	Generate the trajectory (acceleration, velocity and position) by integrating the current jerk. More...

void	integrate (float dt, float integration_scale_factor, float &accel_setpoint_smooth, float &vel_setpoint_smooth, float &pos_setpoint_smooth)

float	getMaxJerk () const

void	setMaxJerk (float max_jerk)

float	getMaxAccel () const

void	setMaxAccel (float max_accel)

float	getMaxVel () const

void	setMaxVel (float max_vel)

float	getCurrentJerk () const

void	setCurrentAcceleration (const float accel)

float	getCurrentAcceleration () const

void	setCurrentVelocity (const float vel)

float	getCurrentVelocity () const

void	setCurrentPosition (const float pos)

float	getCurrentPosition () const

float	getTotalTime () const

float	getT1 () const

float	getT2 () const

float	getT3 () const

float	getVelSp () const

Static Public Member Functions
static void	timeSynchronization (VelocitySmoothing *traj, int n_traj)
	Synchronize several trajectories to have the same total time. More...

Detailed Description

TODO: document the algorithm |T1| T2 |T3|

__| |____ __ Jerk |_|

/ \ Acceleration ___/ ___

;" / / Velocity ; -—".

Member Function Documentation

void VelocitySmoothing::integrate	(	float &	accel_setpoint_smooth,
		float &	vel_setpoint_smooth,
		float &	pos_setpoint_smooth
	)

Generate the trajectory (acceleration, velocity and position) by integrating the current jerk.

Parameters

dt	optional integration period. If not given, the integration period provided during updateDuration call is used. A dt different from the one given during the computation of T1-T3 can be used to fast-forward or slow-down the trajectory.
acc_setpoint_smooth	returned smoothed acceleration setpoint
vel_setpoint_smooth	returned smoothed velocity setpoint
pos_setpoint_smooth	returned smoothed position setpoint

void VelocitySmoothing::reset	(	float	accel,
		float	vel,
		float	pos
	)

Reset the state.

Parameters

void VelocitySmoothing::timeSynchronization	(	VelocitySmoothing *	traj,
		int	n_traj
	)

static

Synchronize several trajectories to have the same total time.

This is required to generate straight lines. The resulting total time is the one of the longest trajectory.

Parameters

traj	an array of VelocitySmoothing objects
n_traj	the number of trajectories to be synchronized

void VelocitySmoothing::updateDurations	(	float	dt,
		float	vel_setpoint
	)

Compute T1, T2, T3 depending on the current state and velocity setpoint.

This should be called on every cycle and before integrate().

Parameters

dt	delta time between last updateDurations() call and now [s]
vel_setpoint	velocity setpoint input

The documentation for this class was generated from the following files: