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--- eeros_architecture:control_system:available_blocks:pathplannerconstacc [2020/09/03 10:21] – ursgraf
+++ eeros_architecture:control_system:available_blocks:pathplannerconstacc [2020/09/03 12:11] (current) – ursgraf
@@ Line 5: / Line 5: @@
-[{{ :eeros_architecture:control_system:available_blocks:pathplannerconstacc.png?600 |Path planner output for a given path}}]
+[{{ :eeros_architecture:control_system:available_blocks:pathplannerconstacc.png?600 |Path planner output for a start and end position}}]
-The trajectory file is loaded with
+With
 <code cpp>
-  init(filename);
+  move(startPos, endPos);
 </code>
-where ''filename'' denotes a file containing the new trajectory.
+you dispatch a new trajectory. The trajectory is calculated with the maximum acceleration, deceleration and velocity. ''startPos'' and ''endPos'' can be given in several dimensions, e.g. startPos = {0, 10} and endPos = {18.3, 12.5} chooses a two dimensional trajectory in a plane. For this purpose maximum acceleration, deceleration and velocity must be specified with two dimensions each.\\
-\\
+You can also choose a start position and move to an end position with
-When calling
 <code cpp>
-  move(startPos);
+  Matrix<2,1,double> start{15, 30}, end{5, 20};
+  setStart(start);
+  move(end);
 </code>
-you dispatch a new trajectory. The trajectory is taken from the path file, no scaling is made. The trajectory starts from ''startPos'' and moves the distance given in the trajectory path file within the time given in the same file.
-\\
-You can also call
-<code cpp>
-  move(time, startPos, deltaPos);
-</code>
-This will take the trajectory from the file and scale it so that it starts at ''startPos'' and moves the distance given by ''deltaPos'' within the desired ''time''.