Changeset 177 in flair-src for trunk/lib/FlairFilter/src/TrajectoryGenerator1D.h

Timestamp:

Apr 27, 2017, 5:49:17 PM (8 years ago)

Author:

Sanahuja Guillaume

Message:

use current zvel when switching from starttakingoff to stabilized into the traj generator

File:

• trunk/lib/FlairFilter/src/TrajectoryGenerator1D.h (modified) (1 diff)

trunk/lib/FlairFilter/src/TrajectoryGenerator1D.h

@@ -72 +72 @@
   * \brief Start trajectory
   *
-  * \param start_pos start position
-  * \param end_pos end position
+  * \param startPosition start position
+  * \param endPosition end position
+  * \param startVelocity start velocity, should be actual velocity. This value will be saturated 
+  * max velocity defined in GCS.
   */
-  void StartTraj(float start_pos, float end_pos);
+  void StartTraj(float startPosition, float endPosition,float startVelocity=0);
 
   /*!