Data Sheet

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85

ⅴ) TrajectoryGenerator.h

(1) void KinematicsInfoReload(void);

Parameter

void

Return

void

Description

Calls Kinematics info

(2) void Set_P2P(vecd StartPose, vecd EndPose,

double TotalTime, double AccelTime)

Parameter

vecd StartPose / vecd EndPose

double TotalTime / double AccelTime

Returns

void

Description

sets P2P trajectory fromStartPose, EndPose, TotalTime,

AccelTime

(3) void Set_P2P(Pose3D StartPose, Pose3D EndPose,

double TotalTime, double AccelTime)

Parameter

Pose3D StartPose / Pose3D EndPose

double TotalTime / double AccelTime

Returns

Void

Description

Sets P2P trajectory from StartPose, EndPose, TotalTime,

AccelTime

(4) void Set_LIN(vecd StartPose, vecd EndPose,

double TotalTime, double AccelTime)

Parameter

vecd StartPose / vecd EndPose

double TotalTime / double AccelTime

Returns

void

Description

Sets linear trajectory from StartPose, EndPose, TotalTime,

AccelTime