.. _program_listing_file_include_ruckig_brake.hpp:

Program Listing for File brake.hpp
==================================

|exhale_lsh| :ref:`Return to documentation for file <file_include_ruckig_brake.hpp>` (``include/ruckig/brake.hpp``)

.. |exhale_lsh| unicode:: U+021B0 .. UPWARDS ARROW WITH TIP LEFTWARDS

.. code-block:: cpp

   #pragma once
   
   #include <array>
   #include <cmath>
   #include <iostream>
   
   #include <ruckig/utils.hpp>
   
   
   namespace ruckig {
   
   class BrakeProfile {
       static constexpr double eps {2.2e-14};
   
       void acceleration_brake(double v0, double a0, double vMax, double vMin, double aMax, double aMin, double jMax);
       void velocity_brake(double v0, double a0, double vMax, double vMin, double aMax, double aMin, double jMax);
   
   public:
       double duration {0.0};
   
       std::array<double, 2> t, j, a, v, p;
   
       void get_position_brake_trajectory(double v0, double a0, double vMax, double vMin, double aMax, double aMin, double jMax);
   
       void get_second_order_position_brake_trajectory(double v0, double vMax, double vMin, double aMax, double aMin);
   
       void get_velocity_brake_trajectory(double a0, double aMax, double aMin, double jMax);
   
       void get_second_order_velocity_brake_trajectory();
   
       void finalize(double& ps, double& vs, double& as) {
           if (t[0] <= 0.0 && t[1] <= 0.0) {
               duration = 0.0;
               return;
           }
   
           duration = t[0];
           p[0] = ps;
           v[0] = vs;
           a[0] = as;
           std::tie(ps, vs, as) = integrate(t[0], ps, vs, as, j[0]);
   
           if (t[1] > 0.0) {
               duration += t[1];
               p[1] = ps;
               v[1] = vs;
               a[1] = as;
               std::tie(ps, vs, as) = integrate(t[1], ps, vs, as, j[1]);
           }
       }
   
       void finalize_second_order(double& ps, double& vs, double& as) {
           if (t[0] <= 0.0) {
               duration = 0.0;
               return;
           }
   
           duration = t[0];
           p[0] = ps;
           v[0] = vs;
           std::tie(ps, vs, as) = integrate(t[0], ps, vs, a[0], 0.0);
       }
   };
   
   } // namespace ruckig