trajectory.hpp File Reference

Time-parameterized trajectory over a Spline. More...

#include <vector>
#include "LightLib/drive/spline.hpp"

Go to the source code of this file.

Classes
struct	light::TrajConstraints
	Kinematic limits used by the trajectory generator. More...
struct	light::TrajState
	One sample of a time-parameterized trajectory. More...
class	light::Trajectory
	Time-parameterized trajectory: dense state table + total duration. More...

Namespaces
namespace	light
	Initialize once via init(); poll getPose/setPose from any task.

Functions
Trajectory	light::generateTrajectory (const std::vector< Waypoint > &wps, const TrajConstraints &cons, bool reversed=false)
	Generate a time-parameterized trajectory from waypoints.

Detailed Description

Time-parameterized trajectory over a Spline.

Generated once from Waypoints via generateTrajectory(); consumed by light::followTrajectory(). 10 ms sample spacing matches the RAMSETE control period.

Definition in file trajectory.hpp.