Class Profile

Defined in File profile.hpp

Class Documentation

class Profile

A single-dof kinematic profile with position, velocity, acceleration and jerk.

The class members are only available in the Ruckig Community Version.

Public Types

enum class ReachedLimits

Values:

enumerator ACC0_ACC1_VEL

enumerator VEL

enumerator ACC0

enumerator ACC1

enumerator ACC0_ACC1

enumerator ACC0_VEL

enumerator ACC1_VEL

enumerator NONE

enum class Direction

Values:

enumerator UP

enumerator DOWN

enum class ControlSigns

Values:

enumerator UDDU

enumerator UDUD

Public Functions

template<ControlSigns control_signs, ReachedLimits limits> inline bool check_for_velocity(double jf, double aMax, double aMin)

template<ControlSigns control_signs, ReachedLimits limits> inline bool check_for_velocity_with_timing(double, double jf, double aMax, double aMin)

template<ControlSigns control_signs, ReachedLimits limits> inline bool check_for_velocity_with_timing(double tf, double jf, double aMax, double aMin, double jMax)

inline void set_boundary_for_velocity(double p0_new, double v0_new, double a0_new, double vf_new, double af_new)

template<ControlSigns control_signs, ReachedLimits limits> inline bool check_for_second_order_velocity(double aUp)

template<ControlSigns control_signs, ReachedLimits limits> inline bool check_for_second_order_velocity_with_timing(double, double aUp)

template<ControlSigns control_signs, ReachedLimits limits> inline bool check_for_second_order_velocity_with_timing(double tf, double aUp, double aMax, double aMin)

template<ControlSigns control_signs, ReachedLimits limits, bool set_limits = false> inline bool check(double jf, double vMax, double vMin, double aMax, double aMin)

template<ControlSigns control_signs, ReachedLimits limits> inline bool check_with_timing(double, double jf, double vMax, double vMin, double aMax, double aMin)

template<ControlSigns control_signs, ReachedLimits limits> inline bool check_with_timing(double tf, double jf, double vMax, double vMin, double aMax, double aMin, double jMax)

inline void set_boundary(const Profile &profile)

inline void set_boundary(double p0_new, double v0_new, double a0_new, double pf_new, double vf_new, double af_new)

template<ControlSigns control_signs, ReachedLimits limits> inline bool check_for_second_order(double aUp, double aDown, double vMax, double vMin)

template<ControlSigns control_signs, ReachedLimits limits> inline bool check_for_second_order_with_timing(double, double aUp, double aDown, double vMax, double vMin)

template<ControlSigns control_signs, ReachedLimits limits> inline bool check_for_second_order_with_timing(double tf, double aUp, double aDown, double vMax, double vMin, double aMax, double aMin)

template<ControlSigns control_signs, ReachedLimits limits> inline bool check_for_first_order(double vUp)

template<ControlSigns control_signs, ReachedLimits limits> inline bool check_for_first_order_with_timing(double, double vUp)

template<ControlSigns control_signs, ReachedLimits limits> inline bool check_for_first_order_with_timing(double tf, double vUp, double vMax, double vMin)

inline Bound get_position_extrema() const

inline bool get_first_state_at_position(double pt, double &time, double time_after = 0.0) const

inline std::string to_string() const

Public Members

std::array<double, 7> t

std::array<double, 7> t_sum

std::array<double, 7> j

std::array<double, 8> a

std::array<double, 8> v

std::array<double, 8> p

BrakeProfile brake: Brake sub-profiles.

BrakeProfile accel

double pf: Target (final) kinematic state.

double vf

double af

enum ruckig::Profile::ReachedLimits limits

enum ruckig::Profile::Direction direction

enum ruckig::Profile::ControlSigns control_signs

Public Static Functions

static inline void check_position_extremum(double t_ext, double t_sum, double t, double p, double v, double a, double j, Bound &ext)

static inline void check_step_for_position_extremum(double t_sum, double t, double p, double v, double a, double j, Bound &ext)