Go to the source code of this file.
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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. More...
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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. More...
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void | aa_ct_pt_list_destroy (struct aa_ct_pt_list *list) |
| Destroys an allocated point list. More...
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void | aa_ct_pt_list_dump (FILE *stream, struct aa_ct_pt_list *list) |
| Print out a list of points to a file. More...
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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. More...
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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. More...
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void | aa_ct_seg_list_destroy (struct aa_ct_seg_list *list) |
| Destroys an allocated segment list. More...
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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. More...
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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. More...
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void aa_ct_pt_list_add |
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struct aa_ct_pt_list * |
list, |
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struct aa_ct_state * |
state |
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) |
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Add a reference to a waypoint to a point list.
The reference will be kept in the list.
- Parameters
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list | List to add point to |
state | State to add to list |
struct aa_ct_pt_list* aa_ct_pt_list_create |
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struct aa_mem_region * |
reg | ) |
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Initialize and construct a point list from a memory region.
- Parameters
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reg | Memory region to allocate from |
- Returns
- A freshly allocated struct aa_ct_pt_list.
void aa_ct_pt_list_destroy |
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struct aa_ct_pt_list * |
list | ) |
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Destroys an allocated point list.
- Parameters
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void aa_ct_pt_list_dump |
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FILE * |
stream, |
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struct aa_ct_pt_list * |
list |
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) |
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Print out a list of points to a file.
- Parameters
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stream | File to print to |
list | Point list to print |
void aa_ct_seg_list_destroy |
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struct aa_ct_seg_list * |
list | ) |
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Destroys an allocated segment list.
- Parameters
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int aa_ct_seg_list_eval |
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struct aa_ct_seg_list * |
list, |
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struct aa_ct_state * |
state, |
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double |
t |
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) |
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Evaluates a segment list at a given time.
Fills in the provided state struct With the reference state at that time.
- Parameters
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list | Segment list to evaluate |
state | State structure to fill in |
t | Time to evaluate segment list at |
- Returns
- 1 if time is within segment list, 0 if not.
void aa_ct_seg_list_plot |
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struct aa_ct_seg_list * |
list, |
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size_t |
n_q, |
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double |
dt |
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) |
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Plots a segment list with a given resolution.
Pipes commands to gnuplot.
- Parameters
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list | Segment list to plot |
n_q | Number of configurations |
dt | Timestep to plot |
struct aa_ct_seg_list* aa_ct_tjq_pb_generate |
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struct aa_mem_region * |
reg, |
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struct aa_ct_pt_list * |
list, |
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struct aa_ct_state * |
limits |
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) |
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Generate a parabolic blend trajectory from a point list.
- Parameters
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reg | Region to allocate from |
list | Point list to build segment list from |
limits | State structure with dq and ddq kinematic limits |
- Returns
- An allocated segment list describing a parabolic blend trajectory.
struct aa_ct_seg_list* aa_ct_tjX_pb_generate |
( |
struct aa_mem_region * |
reg, |
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struct aa_ct_pt_list * |
list, |
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struct aa_ct_state * |
limits |
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) |
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Generate a parabolic blend trajectory from a point list.
- Parameters
-
reg | Region to allocate from |
list | Point list to build segment list from |
limits | State structure with dq and ddq kinematic limits |
- Returns
- An allocated segment list describing a parabolic blend trajectory.