MRSL Motion Primitive Library: Command< Dim > Struct Template Reference

MRSL Motion Primitive Library 1.2

A motion primitive library for generating trajectory for mobile robots

Command class. More...

#include <trajectory.h>

Public Attributes
Vecf< Dim >	pos
	position in $R^{Dim}$

Vecf< Dim >	vel
	velocity in $R^{Dim}$

Vecf< Dim >	acc
	acceleration in $R^{Dim}$

Vecf< Dim >	jrk
	jerk in $R^{Dim}$

decimal_t	yaw
	yaw

decimal_t	yaw_dot
	yaw velocity

decimal_t	t

Detailed Description

template<int Dim>
struct Command< Dim >

Command class.

State includes position, velocity, acceleration and jerk in $R^n$ , where the dimension $n$ can be either 2 or 3. Yaw and yaw_dot are also contained.

The documentation for this struct was generated from the following file:

include/mpl_basis/trajectory.h