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trajectories on hostsim
[aversive.git]
/
modules
/
devices
/
robot
/
trajectory_manager
/
trajectory_manager.h
diff --git
a/modules/devices/robot/trajectory_manager/trajectory_manager.h
b/modules/devices/robot/trajectory_manager/trajectory_manager.h
index
43730ea
..
6e7e82e
100644
(file)
--- a/
modules/devices/robot/trajectory_manager/trajectory_manager.h
+++ b/
modules/devices/robot/trajectory_manager/trajectory_manager.h
@@
-197,6
+197,15
@@
void trajectory_goto_xy_rel(struct trajectory *traj, double x_rel_mm, double y_r
void trajectory_circle_rel(struct trajectory *traj, double x, double y,
double radius_mm, double rel_a_deg, uint8_t flags);
void trajectory_circle_rel(struct trajectory *traj, double x, double y,
double radius_mm, double rel_a_deg, uint8_t flags);
+/*
+ * Compute the fastest distance and angle speeds matching the radius
+ * from current traj_speed
+ */
+void circle_get_da_speed_from_radius(struct trajectory *traj,
+ double radius_mm,
+ double *speed_d,
+ double *speed_a);
+
/* do a line */
void trajectory_line_abs(struct trajectory *traj, double x1, double y1,
double x2, double y2, double advance);
/* do a line */
void trajectory_line_abs(struct trajectory *traj, double x1, double y1,
double x2, double y2, double advance);