trajectory.h

[詳解]

 
#pragma once
 
#include <ctrl/accel_designer.h>
#include <ctrl/state.h>
 
namespace ctrl {
 
namespace straight {
 
class Trajectory : public AccelDesigner {
 public:
  Trajectory() {}
  void update(struct State& s, const float t) const {
    s.q = Pose(x(t), 0, 0);
    s.dq = Pose(v(t), 0, 0);
    s.ddq = Pose(a(t), 0, 0);
    s.dddq = Pose(j(t), 0, 0);
  }
};
 
}  // namespace straight
}  // namespace ctrl