mbs_trajectories.h

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/*
 * Main header of some trajectories functions
 *
 * authors: Robotran Team
 */
#ifndef _MBS_TRAJECTORIES_H_
#define _MBS_TRAJECTORIES_H_
 
#ifndef _USE_MATH_DEFINES
#define _USE_MATH_DEFINES  // to use M_PI in Windows
#endif // !_USE_MATH_DEFINES
#include <stdio.h>
#include <stdlib.h>
#include <string.h>
#include <math.h>
 
int mbs_get_ramp_time(double *t1, double *t2, double *t3,
                       double delta_q, double v12, double a01, double a23, double t0);
 
 
int mbs_ramp_3_order(double *q, double *qd, double *qdd, double tsim, double t0, double t1, double qmax);
 
 
int mbs_ramp_5_order(double *q, double *qd, double *qdd, double tsim, double t0, double t1, double qmax);
 
 
int mbs_ramp_2_order_3_piece(double *q, double *qd, double *qdd, double tsim, double t0, double t1, double t2, double t3, double qmax);
 
int mbs_ramp_3_order_3_piece(double *q, double *qd, double *qdd, double tsim, double t0, double t1, double t2, double t3, double qmax);
 
int mbs_ramp_4_order_3_piece(double *q, double *qd, double *qdd, double tsim, double t0, double t1, double t2, double t3, double qmax);
 
int mbs_ramp_2_order_3_piece_from_acc_vel(double *q, double *qd, double *qdd, double tsim, double v12, double a01, double a23, double t0, double qmax);
 
void mbs_cosine_signal(double tsim, double ampl, double phi, double f, double off, double* q, double* qd, double* qdd);
 
void mbs_sine_signal(double tsim, double ampl, double phi, double f, double off, double* q, double* qd, double* qdd);
 
 
void sweep(double tsim, double t0, double f0, double t1, double f1, double zmax, double* z, double* zd, double *zdd);
 
void mbs_sigmoid(double tsim, double lambda, double t0, double* q, double* qd, double* qdd);
 
void mbs_add_signal(double q1, double qd1, double qdd1, double q2, double qd2, double qdd2, double* q3, double* qd3, double* qdd3);
 
void mbs_sub_signal(double q1, double qd1, double qdd1, double q2, double qd2, double qdd2, double* q3, double* qd3, double* qdd3);
 
void mbs_mult_signal(double q1, double qd1, double qdd1, double q2, double qd2, double qdd2, double* q3, double* qd3, double* qdd3);
 
int mbs_div_signal(double q1, double qd1, double qdd1, double q2, double qd2, double qdd2, double* q3, double* qd3, double* qdd3);
 
 
#endif