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--- eeros_architecture:control_system:available_blocks:pathplannerconstacc [2020/09/03 11:24] – ursgraf
+++ eeros_architecture:control_system:available_blocks:pathplannerconstacc [2020/09/03 12:11] (current) – ursgraf
@@ Line 11: / Line 11: @@
   move(startPos, endPos);
 </code>
-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}, {0, 0}, {0, 0}}'' and ''endPos = {{18.3, 12.5}, {0, 0}, {0, 0}}'' chooses a two dimensional trajectory in a plane. For this purpose maximum acceleration, deceleration and velocity must be specified with two dimensions each.\\
+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
 <code cpp>
-  move(time, startPos, deltaPos);
+  Matrix<2,1,double> start{15, 30}, end{5, 20};
+  setStart(start);
+  move(end);
 </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''.