TrapezoidalMotionGenerator

rb::TrapezoidalMotionGenerator provides a local motion-profile generator for scalar or vector trajectories. It is a utility layer often used in examples and controller support code rather than through the high-level robot client.

Header

Header

#include <rby1-sdk/math/trapezoidal_motion_generator.h>

Declaration

Namespace	rb
Kind	class
Primary role	Generate trapezoidal motion profiles and evaluate them over time.

Member Types

Type	Purpose	Notes
Input	Motion-profile input record.	Passed into Update(...).
Output	Sampled output record at a given time.	Returned by operator() and at_time(...).
Coeff	Internal coefficient record for the profile.	Mainly useful during inspection or debugging.

Public Member Functions

Method group	Purpose	Notes
Update(...)	Load a new motion-profile request.	Replaces the active profile.
operator()(...) and at_time(...)	Sample the profile at a given time.	operator()(...) is the convenience form.
GetTotalTime(), GetLastInput(), IsReached(...)	Inspect profile duration, cached input, and completion state.	Useful in time-stepped loops.

Detailed Reference

template<int N>
class TrapezoidalMotionGenerator

Public Functions

inline explicit TrapezoidalMotionGenerator(unsigned int max_iter = 30)

inline Output at_time(double t)

inline Input GetLastInput() const

inline double GetTotalTime() const

inline bool IsReached(double t)

inline Output operator()(double t)

inline void Update(const Input &input)

struct Coeff

Public Members

double a

double end_t

double init_p

double init_v

double start_t

struct Input

Public Members

Eigen::Vector<double, N> acceleration_limit

Eigen::Vector<double, N> current_position

Eigen::Vector<double, N> current_velocity

double minimum_time

Eigen::Vector<double, N> target_position

Eigen::Vector<double, N> velocity_limit

struct Output

Public Members

Eigen::Vector<double, N> acceleration

Eigen::Vector<double, N> position

Eigen::Vector<double, N> velocity

Related Types

• VelocityFilterEstimator

Examples

• trapezoidal_motion_generator.cpp is the direct example for this page.