Class BrakeProfile

• Defined in File brake.hpp

Class Documentation

class BrakeProfile

Calculates (pre- or post-) profile to get current or final state below the limits.

Public Functions

void get_position_brake_trajectory(double v0, double a0, double vMax, double vMin, double aMax, double aMin, double jMax)

Calculate brake trajectory for third-order position interface.

void get_second_order_position_brake_trajectory(double v0, double vMax, double vMin, double aMax, double aMin)

Calculate brake trajectory for second-order position interface.

void get_velocity_brake_trajectory(double a0, double aMax, double aMin, double jMax)

Calculate brake trajectory for third-order velocity interface.

void get_second_order_velocity_brake_trajectory()

Calculate brake trajectory for second-order velocity interface.

inline void finalize(double &ps, double &vs, double &as)

Finalize third-order braking by integrating along kinematic state.

inline void finalize_second_order(double &ps, double &vs, double &as)

Finalize second-order braking by integrating along kinematic state.

Public Members

double duration = {0.0}

Overall duration.

std::array<double, 2> t

Profile information for a two-step profile.

std::array<double, 2> j

std::array<double, 2> a

std::array<double, 2> v

std::array<double, 2> p