TLMtrajectory Struct Reference
[LM] linear movement: parameters
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#include <lmBase.h>
List of all members.
Public Attributes |
double * | arr_actpos |
| current position in cartesian units
|
double * | arr_tarpos |
| target position in cartesian units
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int | distance |
| distance between target and current position
|
double | time |
| time that it takes from current position to target position
|
double | dt |
| time elapsed between one step and the next one
|
short | number_of_points |
| number of points to interpolate
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TLM_points * | points |
| points to be interpolated
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short ** | motors |
| motor position in each point to be interpolated
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double ** | derivatives |
| second order derivatives of the polinomes that join the points, in the points
|
double *** | coefficients |
| coefficients of the polinomes that join the points
|
short *** | parameters |
| parameters to be sent in the command 'L' packet
|
Detailed Description
[LM] linear movement: parameters
Definition at line 43 of file lmBase.h.
Member Data Documentation
current position in cartesian units
Definition at line 44 of file lmBase.h.
target position in cartesian units
Definition at line 45 of file lmBase.h.
coefficients of the polinomes that join the points
Definition at line 53 of file lmBase.h.
second order derivatives of the polinomes that join the points, in the points
Definition at line 52 of file lmBase.h.
distance between target and current position
Definition at line 46 of file lmBase.h.
time elapsed between one step and the next one
Definition at line 48 of file lmBase.h.
motor position in each point to be interpolated
Definition at line 51 of file lmBase.h.
number of points to interpolate
Definition at line 49 of file lmBase.h.
parameters to be sent in the command 'L' packet
Definition at line 54 of file lmBase.h.
points to be interpolated
Definition at line 50 of file lmBase.h.
time that it takes from current position to target position
Definition at line 47 of file lmBase.h.
The documentation for this struct was generated from the following file: