Patrick Wensing / Mbed 2 deprecated Bezier_Trajectory_Follower

Bezier trajectory tracking controller for iterative feedforward learning

Dependencies:   EthernetInterface ExperimentServer QEI_pmw mbed-rtos mbed

BezierCurve.h

Committer:
pwensing
Date:
2015-10-19
Revision:
1:fa2766bcfd50
Parent:
0:cef87d1a41ad

File content as of revision 1:fa2766bcfd50:

class BezierCurve
{
public:
    BezierCurve(int dim, int order);
    ~BezierCurve();
    void setPoints(float pts[]); 
    void evaluate(float time, float point[]);
    void evaluateDerivative(float time, float point[]);
private:
    const int _dim;
    const int _order;
    float ** _pts;
    int * _nck;
    int * _nck_deriv;
};