38 #ifndef AMINO_CT_TRAJ_H
39 #define AMINO_CT_TRAJ_H
65 struct aa_ct_seg_list;
141 struct aa_ct_pt_list *list,
154 struct aa_ct_pt_list *list,
State description of a robot.
struct aa_ct_state state
Description of state at waypoint.
struct aa_ct_seg_list * aa_ct_tjq_pb_generate(struct aa_mem_region *reg, struct aa_ct_pt_list *list, struct aa_ct_state *limits)
Generate a parabolic blend trajectory from a point list.
struct aa_ct_seg_list * aa_ct_tjX_pb_generate(struct aa_mem_region *reg, struct aa_ct_pt_list *list, struct aa_ct_state *limits)
Generate a parabolic blend trajectory from a point list.
void aa_ct_pt_list_destroy(struct aa_ct_pt_list *list)
Destroys an allocated point list.
struct aa_ct_pt_list * aa_ct_pt_list_create(struct aa_mem_region *reg)
Initialize and construct a point list from a memory region.
void aa_ct_seg_list_plot(struct aa_ct_seg_list *list, size_t n_q, double dt)
Plots a segment list with a given resolution.
Data Structure for Region-Based memory allocation.
struct aa_ct_pt * next
Links to next and previous points.
void aa_ct_seg_list_destroy(struct aa_ct_seg_list *list)
Destroys an allocated segment list.
int aa_ct_seg_list_eval(struct aa_ct_seg_list *list, struct aa_ct_state *state, double t)
Evaluates a segment list at a given time.
void aa_ct_pt_list_dump(FILE *stream, struct aa_ct_pt_list *list)
Print out a list of points to a file.
void aa_ct_pt_list_add(struct aa_ct_pt_list *list, struct aa_ct_state *state)
Add a reference to a waypoint to a point list.