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--- eeros_architecture:control_system:available_blocks:pathplannercubic [2020/08/31 11:33] – [Path Planner Cubic] ursgraf
+++ eeros_architecture:control_system:available_blocks:pathplannercubic [2020/08/31 11:43] – ursgraf
@@ Line 8: / Line 8: @@
 .4000000e-01  -1.0000000e+04   2.4000000e+03   4.8000000e+02   5.3760000e+01
 </code>
-The jerk within the second interval is 1e4 while the acceleration, velocity and position are all zero at the beginning of this interval. The jerk is set to zero in the third interval. The acceleration, velocity and position must be set to the values they reached at the end of interval two in order not to cause any discontinuities.
+The jerk within the second interval is 1e4 while the acceleration, velocity and position are all zero at the beginning of this interval. The jerk is set to zero in the third interval. The acceleration, velocity and position must be set to the values they reached at the end of interval two in order not to cause any discontinuities. You have to calculate these values with an external tool.
 [{{ :eeros_architecture:control_system:available_blocks:pathplannercubic.png?600 |Path planner output for a given path}}]
-The trajectory may be scaled in time and jerk in order to achieve a positional change
+The trajectory file is loaded with
-within a given time interval.
+<code cpp>
+  init(filename);
+</code>
+where ''filename'' denotes a file containing the new trajectory.
+\\
+When calling
+<code cpp>
+  move(startPos);
+</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.
 \\
-A path planner block has four output signals - jerk, acceleration, velocity, and position.
+You can also call
-===== Parameters =====
+<code cpp>
-TODO
+  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''.
-===== Miscellaneous =====
-TODO