referenceTraj.h

00001 #ifndef REFERENCETRAJ_H
00002 #define REFERENCETRAG_H
00003 
00004 #define TRUE    1
00005 #define FALSE   0
00006 
00007 typedef struct _REF {
00008     double T1[3];   /* ?????????? time  t */
00009     double t1[3];   /* ?????????? time  t */
00010     double t[3];        /* current time     t */
00011     float M[3];     /* Desire Position  C */
00012     float N[3];     /* Desire Position  C */
00013     float L[3];     /* Last Position    B */
00014     float det_M[3]; /*              C - B */
00015     float det_L[3]; /*              A - B */
00016 } REF, *PREF;
00017 
00018 
00019 //********** arm
00020 typedef struct _ARMREF {
00021     double T1[5];   /* ?????????? time  t */
00022     double t1[5];   /* ?????????? time  t */
00023     double t[5];        /* current time     t */
00024     float M[5];     /* Desire Position  C */
00025     float N[5];     /* Desire Position  C */
00026     float L[5];     /* Last Position    B */
00027     float det_M[5]; /*              C - B */
00028     float det_L[5]; /*              A - B */
00029 } ARMREF, *PARMREF;
00030 //********** arm
00031 
00032 
00033 void reference_trajectory(int INIT,                  /* init start */
00034                           double TS,                  /* sampling time */
00035                           double SP,                  /* interval  */
00036                           double *Tacc,               /* acceleration time */
00037                           PREF ref,                  /* static variable */
00038                           float *MAX_STEP,           /* max step limitation */
00039                           float *posRe,              /* real position */
00040                           float *posFl,              /* desire position */
00041                           float *trajRef );          /* ref. Traj. 0..2 -> q_d, 3..5-> v_d, 6..8->a_d */
00042 
00043 
00044 /////////////////////////////////////////////////////////////////
00045 //******* arm trajectory
00046 void arm_reference_trajectory(int INIT,                  /* init start */
00047                           double TS,                  /* sampling time */
00048                           double SP,                  /* interval  */
00049                           double *Tacc,               /* acceleration time */
00050                           PARMREF ref,                  /* static variable */
00051                           float *MAX_STEP,           /* max step limitation */
00052                           float *posRe,              /* real position */
00053                           float *posFl,              /* desire position */
00054                           float *trajRef );          /* ref. Traj. 0..2 -> q_d, 3..5-> v_d, 6..8->a_d */
00055 
00056 
00057 #endif