throttle speed before ejection

[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 594b7b0..7cab785 100644 (file)
--- a/modules/devices/robot/trajectory_manager/trajectory_manager.h
+++ b/modules/devices/robot/trajectory_manager/trajectory_manager.h
@@ -130,7 +130,7 @@ void trajectory_set_robot_params(struct trajectory *traj,
 void trajectory_set_speed(struct trajectory *traj, double d_speed, double a_speed);
 
 /** set speed consign */
-void trajectory_set_speed(struct trajectory *traj, double d_acc, double a_acc);
+void trajectory_set_acc(struct trajectory *traj, double d_acc, double a_acc);
 
 /**
  * set windows for trajectory.
@@ -149,6 +149,11 @@ void trajectory_set_windows(struct trajectory *traj, double d_win,
  */
 void trajectory_set_circle_coef(struct trajectory *traj, double coef);
 
+/**
+ * return trajectory state
+ */
+enum trajectory_state trajectory_get_state(struct trajectory *traj);
+
 /** return true if the position consign is equal to the filtered
  * position consign (after quadramp filter), for angle and
  * distance. */