Robot

Dependencies:   mbed QEI

Embed: (wiki syntax)

« Back to documentation index

Show/hide line numbers Trajectory.cpp Source File

Trajectory.cpp

00001 #include "Trajectory.h"
00002 Trajectory::Trajectory(){
00003 }
00004 Trajectory::Trajectory(int dof, int sampling):pos(sampling),v(sampling),a(sampling){
00005         TimSampling = sampling;
00006         Contsample=0;
00007 }
00008 void Trajectory::Insert(float p, float v, float a){
00009     if(Contsample<TimSampling){
00010         this->pos(Contsample) = p;
00011         this->v(Contsample) = v;
00012         this->a(Contsample) = a;
00013         Contsample++;
00014     }
00015 }
00016 float Trajectory::GetXref(int i){
00017     return pos(i);
00018 }
00019 float Trajectory::GetVref(int i){
00020     return pos(i);
00021 }
00022 float Trajectory::GetAref(int i){
00023     return pos(i);
00024 }