.. _program_listing_file_include_ruckig_velocity.hpp:

Program Listing for File velocity.hpp
=====================================

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

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

.. code-block:: cpp

   #pragma once
   
   #include <array>
   #include <optional>
   
   
   namespace ruckig {
   
   class VelocityThirdOrderStep1 {
       using ReachedLimits = Profile::ReachedLimits;
       using ControlSigns = Profile::ControlSigns;
   
       const double a0, af;
       const double _aMax, _aMin, _jMax;
   
       // Pre-calculated expressions
       double vd;
   
       // Max 3 valid profiles
       using ProfileIter = std::array<Profile, 3>::iterator;
       std::array<Profile, 3> valid_profiles;
   
       void time_acc0(ProfileIter& profile, double aMax, double aMin, double jMax, bool return_after_found) const;
       void time_none(ProfileIter& profile, double aMax, double aMin, double jMax, bool return_after_found) const;
   
       // Only for zero-limits case
       bool time_all_single_step(Profile* profile, double aMax, double aMin, double jMax) const;
   
       inline void add_profile(ProfileIter& profile) const {
           const auto prev_profile = profile;
           ++profile;
           profile->set_boundary(*prev_profile);
       }
   
   public:
       explicit VelocityThirdOrderStep1(double v0, double a0, double vf, double af, double aMax, double aMin, double jMax);
   
       bool get_profile(const Profile& input, Block& block);
   };
   
   
   class VelocityThirdOrderStep2 {
       using ReachedLimits = Profile::ReachedLimits;
       using ControlSigns = Profile::ControlSigns;
   
       const double a0, tf, af;
       const double _aMax, _aMin, _jMax;
   
       // Pre-calculated expressions
       double vd, ad;
   
       bool time_acc0(Profile& profile, double aMax, double aMin, double jMax);
       bool time_none(Profile& profile, double aMax, double aMin, double jMax);
   
       inline bool check_all(Profile& profile, double aMax, double aMin, double jMax) {
           return time_acc0(profile, aMax, aMin, jMax) || time_none(profile, aMax, aMin, jMax);
       }
   
   public:
       explicit VelocityThirdOrderStep2(double tf, double v0, double a0, double vf, double af, double aMax, double aMin, double jMax);
   
       bool get_profile(Profile& profile);
   };
   
   
   class VelocitySecondOrderStep1 {
       const double _aMax, _aMin;
       double vd; // Pre-calculated expressions
   
   public:
       explicit VelocitySecondOrderStep1(double v0, double vf, double aMax, double aMin);
   
       bool get_profile(const Profile& input, Block& block);
   };
   
   
   class VelocitySecondOrderStep2 {
       const double tf, _aMax, _aMin;
       double vd; // Pre-calculated expressions
   
   public:
       explicit VelocitySecondOrderStep2(double tf, double v0, double vf, double aMax, double aMin);
   
       bool get_profile(Profile& profile);
   };
   
   } // namespace ruckig