trajectory Struct Reference

#include <trajectory_manager.h>

Data Fields
enum trajectory_state	state
union {
vect2_cart   cart
struct rs_polar   pol
}	target
double	d_win
double	a_win_rad
double	a_start_rad
uint16_t	d_speed
uint16_t	a_speed
struct robot_position *	position
struct robot_system *	robot
struct cs *	csm_angle
struct cs *	csm_distance
int8_t	scheduler_task

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Detailed Description

Definition at line 47 of file trajectory_manager.h.

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Field Documentation

enum trajectory_state trajectory::state

Definition at line 48 of file trajectory_manager.h.

Referenced by trajectory_a_abs(), trajectory_a_rel(), trajectory_d_a_rel(), trajectory_d_rel(), trajectory_goto_d_a_rel(), trajectory_goto_forward_xy_abs(), trajectory_goto_xy_abs(), trajectory_goto_xy_rel(), trajectory_hardstop(), trajectory_in_window(), trajectory_init(), trajectory_only_a_rel(), trajectory_only_d_rel(), trajectory_stop(), trajectory_turnto_xy(), and trajectory_turnto_xy_behind().

vect2_cart trajectory::cart

< target, if it is a x,y vector

Definition at line 51 of file trajectory_manager.h.

Referenced by trajectory_goto_d_a_rel(), trajectory_goto_forward_xy_abs(), trajectory_goto_xy_abs(), and trajectory_goto_xy_rel().

struct rs_polar trajectory::pol [read]

< target, if it is a d,a vector

Definition at line 52 of file trajectory_manager.h.

Referenced by __trajectory_goto_d_a_rel().

union { ... } trajectory::target

Referenced by __trajectory_goto_d_a_rel(), trajectory_goto_d_a_rel(), trajectory_goto_forward_xy_abs(), trajectory_goto_xy_abs(), and trajectory_goto_xy_rel().

double trajectory::d_win

< distance window (for END_NEAR)

Definition at line 55 of file trajectory_manager.h.

Referenced by trajectory_set_windows().

double trajectory::a_win_rad

< angle window (for END_NEAR)

Definition at line 56 of file trajectory_manager.h.

Referenced by trajectory_set_windows().

double trajectory::a_start_rad

< in xy consigns, start to move in distance when a_target < a_start

Definition at line 57 of file trajectory_manager.h.

Referenced by trajectory_set_windows().

uint16_t trajectory::d_speed

< distance speed consign

Definition at line 60 of file trajectory_manager.h.

Referenced by trajectory_set_speed().

uint16_t trajectory::a_speed

< angle speed consign

Definition at line 61 of file trajectory_manager.h.

Referenced by trajectory_set_speed().

struct robot_position* trajectory::position [read]

< associated robot_position

Definition at line 63 of file trajectory_manager.h.

Referenced by __trajectory_goto_d_a_rel(), trajectory_a_abs(), trajectory_goto_d_a_rel(), trajectory_goto_xy_rel(), trajectory_set_robot_params(), trajectory_turnto_xy(), and trajectory_turnto_xy_behind().

struct robot_system* trajectory::robot [read]

< associated robot_system

Definition at line 64 of file trajectory_manager.h.

Referenced by __trajectory_goto_d_a_rel(), trajectory_hardstop(), and trajectory_set_robot_params().

struct cs* trajectory::csm_angle [read]

< associated control system (angle)

Definition at line 65 of file trajectory_manager.h.

Referenced by __trajectory_goto_d_a_rel(), trajectory_finished(), trajectory_hardstop(), and trajectory_set_cs().

struct cs* trajectory::csm_distance [read]

< associated control system (distance)

Definition at line 66 of file trajectory_manager.h.

Referenced by __trajectory_goto_d_a_rel(), trajectory_finished(), trajectory_hardstop(), and trajectory_set_cs().

int8_t trajectory::scheduler_task

< id of current task (-1 if no running task)

Definition at line 68 of file trajectory_manager.h.

Referenced by trajectory_init().

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The documentation for this struct was generated from the following file:

• aversive_10-03-12/modules/devices/robot/trajectory_manager/trajectory_manager.h