eeros_architecture:control_system:available_blocks:pathplannercubic
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eeros_architecture:control_system:available_blocks:pathplannercubic [2020/08/31 11:32] – [Path Planner Cubic] ursgraf | eeros_architecture:control_system:available_blocks:pathplannercubic [2020/09/03 08:58] (current) – ursgraf | ||
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====== Path Planner Cubic ====== | ====== Path Planner Cubic ====== | ||
- | This path planner takes precalculated cubic splines from a file and outputs the resulting values for jerk, acceleration, | + | This path planner takes precalculated cubic splines from a file and outputs the resulting values for jerk, acceleration, |
< | < | ||
// | // | ||
Line 8: | Line 8: | ||
2.4000000e-01 | 2.4000000e-01 | ||
</ | </ | ||
- | The jerk within the second interval is 1e4 while the acceleration, | + | The jerk within the second interval is 1e4 while the acceleration, |
- | {{: | + | [{{ : |
- | + | ||
- | The trajectory may be scaled in time and jerk in order to achieve a positional change | + | |
- | within a given time interval. | + | |
+ | The trajectory file is loaded with | ||
+ | <code cpp> | ||
+ | init(filename); | ||
+ | </ | ||
+ | where '' | ||
\\ | \\ | ||
- | A path planner block has four output signals - jerk, acceleration, | + | When calling |
- | ===== Parameters ===== | + | <code cpp> |
- | TODO | + | move(startPos); |
+ | </ | ||
+ | you dispatch a new trajectory. The trajectory is taken from the path file, no scaling is made. The trajectory starts from '' | ||
+ | \\ | ||
+ | You can also call | ||
+ | <code cpp> | ||
+ | move(time, startPos, deltaPos); | ||
+ | </ | ||
+ | This will take the trajectory from the file and scale it so that it starts at '' | ||
- | ===== Miscellaneous ===== | ||
- | TODO |
eeros_architecture/control_system/available_blocks/pathplannercubic.1598866332.txt.gz · Last modified: 2020/08/31 11:32 by ursgraf