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<h1>TLMtrajectory Struct Reference</h1> </div>
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<!-- doxytag: class="TLMtrajectory" -->
<p>[LM] linear movement: parameters
<a href="#_details">More...</a></p>
<p><code>#include <<a class="el" href="lmBase_8h_source.html">lmBase.h</a>></code></p>
<div class="dynheader">
Collaboration diagram for TLMtrajectory:</div>
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<div class="center"><img src="structTLMtrajectory__coll__graph.png" border="0" usemap="#TLMtrajectory_coll__map" alt="Collaboration graph"/></div>
<map name="TLMtrajectory_coll__map" id="TLMtrajectory_coll__map">
<area shape="rect" id="node2" href="structTLM__points.html" title="[LM] linear movement: points to be interpolated" alt="" coords="28,6,119,109"/></map>
<center><span class="legend">[<a target="top" href="graph_legend.html">legend</a>]</span></center></div>
<p><a href="structTLMtrajectory-members.html">List of all members.</a></p>
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<tr><td colspan="2"><h2><a name="pub-attribs"></a>
Public Attributes</h2></td></tr>
<tr><td class="memItemLeft" align="right" valign="top">double * </td><td class="memItemRight" valign="bottom"><a class="el" href="structTLMtrajectory.html#a8fb90fef05fc5254b7a0246e37cbad98">arr_actpos</a></td></tr>
<tr><td class="mdescLeft"> </td><td class="mdescRight">current position in cartesian units <a href="#a8fb90fef05fc5254b7a0246e37cbad98"></a><br/></td></tr>
<tr><td class="memItemLeft" align="right" valign="top">double * </td><td class="memItemRight" valign="bottom"><a class="el" href="structTLMtrajectory.html#abb353748559a2e20be5f74b094919174">arr_tarpos</a></td></tr>
<tr><td class="mdescLeft"> </td><td class="mdescRight">target position in cartesian units <a href="#abb353748559a2e20be5f74b094919174"></a><br/></td></tr>
<tr><td class="memItemLeft" align="right" valign="top">int </td><td class="memItemRight" valign="bottom"><a class="el" href="structTLMtrajectory.html#a11c224ba77d4224876bbad462f3dbd4e">distance</a></td></tr>
<tr><td class="mdescLeft"> </td><td class="mdescRight">distance between target and current position <a href="#a11c224ba77d4224876bbad462f3dbd4e"></a><br/></td></tr>
<tr><td class="memItemLeft" align="right" valign="top">double </td><td class="memItemRight" valign="bottom"><a class="el" href="structTLMtrajectory.html#a7664e230454116e4d078244ddc0490b6">time</a></td></tr>
<tr><td class="mdescLeft"> </td><td class="mdescRight">time that it takes from current position to target position <a href="#a7664e230454116e4d078244ddc0490b6"></a><br/></td></tr>
<tr><td class="memItemLeft" align="right" valign="top">double </td><td class="memItemRight" valign="bottom"><a class="el" href="structTLMtrajectory.html#afd9fcf1b93c28dc3f1ba9d14a35ba7fc">dt</a></td></tr>
<tr><td class="mdescLeft"> </td><td class="mdescRight">time elapsed between one step and the next one <a href="#afd9fcf1b93c28dc3f1ba9d14a35ba7fc"></a><br/></td></tr>
<tr><td class="memItemLeft" align="right" valign="top">short </td><td class="memItemRight" valign="bottom"><a class="el" href="structTLMtrajectory.html#a09a91ed807e236009df13f9516b11859">number_of_points</a></td></tr>
<tr><td class="mdescLeft"> </td><td class="mdescRight">number of points to interpolate <a href="#a09a91ed807e236009df13f9516b11859"></a><br/></td></tr>
<tr><td class="memItemLeft" align="right" valign="top"><a class="el" href="structTLM__points.html">TLM_points</a> * </td><td class="memItemRight" valign="bottom"><a class="el" href="structTLMtrajectory.html#a41907b1695851704125abc5a344345c0">points</a></td></tr>
<tr><td class="mdescLeft"> </td><td class="mdescRight">points to be interpolated <a href="#a41907b1695851704125abc5a344345c0"></a><br/></td></tr>
<tr><td class="memItemLeft" align="right" valign="top">short ** </td><td class="memItemRight" valign="bottom"><a class="el" href="structTLMtrajectory.html#a3274c3900a7e4fd43170c469f4915d95">motors</a></td></tr>
<tr><td class="mdescLeft"> </td><td class="mdescRight">motor position in each point to be interpolated <a href="#a3274c3900a7e4fd43170c469f4915d95"></a><br/></td></tr>
<tr><td class="memItemLeft" align="right" valign="top">double ** </td><td class="memItemRight" valign="bottom"><a class="el" href="structTLMtrajectory.html#afdae6f2f8778c2a59eca2e59c1f3316e">derivatives</a></td></tr>
<tr><td class="mdescLeft"> </td><td class="mdescRight">second order derivatives of the polinomes that join the points, in the points <a href="#afdae6f2f8778c2a59eca2e59c1f3316e"></a><br/></td></tr>
<tr><td class="memItemLeft" align="right" valign="top">double *** </td><td class="memItemRight" valign="bottom"><a class="el" href="structTLMtrajectory.html#a1e90c8c6472540cedfd734813f0b33b2">coefficients</a></td></tr>
<tr><td class="mdescLeft"> </td><td class="mdescRight">coefficients of the polinomes that join the points <a href="#a1e90c8c6472540cedfd734813f0b33b2"></a><br/></td></tr>
<tr><td class="memItemLeft" align="right" valign="top">short *** </td><td class="memItemRight" valign="bottom"><a class="el" href="structTLMtrajectory.html#a7a6a1bdd1987bfa0f3e6a09171fde749">parameters</a></td></tr>
<tr><td class="mdescLeft"> </td><td class="mdescRight">parameters to be sent in the command 'L' packet <a href="#a7a6a1bdd1987bfa0f3e6a09171fde749"></a><br/></td></tr>
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<hr/><a name="_details"></a><h2>Detailed Description</h2>
<div class="textblock"><p>[LM] linear movement: parameters </p>
<p>Definition at line <a class="el" href="lmBase_8h_source.html#l00043">43</a> of file <a class="el" href="lmBase_8h_source.html">lmBase.h</a>.</p>
</div><hr/><h2>Member Data Documentation</h2>
<a class="anchor" id="a8fb90fef05fc5254b7a0246e37cbad98"></a><!-- doxytag: member="TLMtrajectory::arr_actpos" ref="a8fb90fef05fc5254b7a0246e37cbad98" args="" -->
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<td class="memname">double* <a class="el" href="structTLMtrajectory.html#a8fb90fef05fc5254b7a0246e37cbad98">TLMtrajectory::arr_actpos</a></td>
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<p>current position in cartesian units </p>
<p>Definition at line <a class="el" href="lmBase_8h_source.html#l00044">44</a> of file <a class="el" href="lmBase_8h_source.html">lmBase.h</a>.</p>
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<a class="anchor" id="abb353748559a2e20be5f74b094919174"></a><!-- doxytag: member="TLMtrajectory::arr_tarpos" ref="abb353748559a2e20be5f74b094919174" args="" -->
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<td class="memname">double* <a class="el" href="structTLMtrajectory.html#abb353748559a2e20be5f74b094919174">TLMtrajectory::arr_tarpos</a></td>
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<p>target position in cartesian units </p>
<p>Definition at line <a class="el" href="lmBase_8h_source.html#l00045">45</a> of file <a class="el" href="lmBase_8h_source.html">lmBase.h</a>.</p>
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<a class="anchor" id="a1e90c8c6472540cedfd734813f0b33b2"></a><!-- doxytag: member="TLMtrajectory::coefficients" ref="a1e90c8c6472540cedfd734813f0b33b2" args="" -->
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<td class="memname">double*** <a class="el" href="structTLMtrajectory.html#a1e90c8c6472540cedfd734813f0b33b2">TLMtrajectory::coefficients</a></td>
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<p>coefficients of the polinomes that join the points </p>
<p>Definition at line <a class="el" href="lmBase_8h_source.html#l00053">53</a> of file <a class="el" href="lmBase_8h_source.html">lmBase.h</a>.</p>
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<a class="anchor" id="afdae6f2f8778c2a59eca2e59c1f3316e"></a><!-- doxytag: member="TLMtrajectory::derivatives" ref="afdae6f2f8778c2a59eca2e59c1f3316e" args="" -->
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<td class="memname">double** <a class="el" href="structTLMtrajectory.html#afdae6f2f8778c2a59eca2e59c1f3316e">TLMtrajectory::derivatives</a></td>
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<p>second order derivatives of the polinomes that join the points, in the points </p>
<p>Definition at line <a class="el" href="lmBase_8h_source.html#l00052">52</a> of file <a class="el" href="lmBase_8h_source.html">lmBase.h</a>.</p>
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<a class="anchor" id="a11c224ba77d4224876bbad462f3dbd4e"></a><!-- doxytag: member="TLMtrajectory::distance" ref="a11c224ba77d4224876bbad462f3dbd4e" args="" -->
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<td class="memname">int <a class="el" href="structTLMtrajectory.html#a11c224ba77d4224876bbad462f3dbd4e">TLMtrajectory::distance</a></td>
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<p>distance between target and current position </p>
<p>Definition at line <a class="el" href="lmBase_8h_source.html#l00046">46</a> of file <a class="el" href="lmBase_8h_source.html">lmBase.h</a>.</p>
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<a class="anchor" id="afd9fcf1b93c28dc3f1ba9d14a35ba7fc"></a><!-- doxytag: member="TLMtrajectory::dt" ref="afd9fcf1b93c28dc3f1ba9d14a35ba7fc" args="" -->
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<td class="memname">double <a class="el" href="structTLMtrajectory.html#afd9fcf1b93c28dc3f1ba9d14a35ba7fc">TLMtrajectory::dt</a></td>
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<p>time elapsed between one step and the next one </p>
<p>Definition at line <a class="el" href="lmBase_8h_source.html#l00048">48</a> of file <a class="el" href="lmBase_8h_source.html">lmBase.h</a>.</p>
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<a class="anchor" id="a3274c3900a7e4fd43170c469f4915d95"></a><!-- doxytag: member="TLMtrajectory::motors" ref="a3274c3900a7e4fd43170c469f4915d95" args="" -->
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<td class="memname">short** <a class="el" href="structTLMtrajectory.html#a3274c3900a7e4fd43170c469f4915d95">TLMtrajectory::motors</a></td>
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<p>motor position in each point to be interpolated </p>
<p>Definition at line <a class="el" href="lmBase_8h_source.html#l00051">51</a> of file <a class="el" href="lmBase_8h_source.html">lmBase.h</a>.</p>
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<a class="anchor" id="a09a91ed807e236009df13f9516b11859"></a><!-- doxytag: member="TLMtrajectory::number_of_points" ref="a09a91ed807e236009df13f9516b11859" args="" -->
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<td class="memname">short <a class="el" href="structTLMtrajectory.html#a09a91ed807e236009df13f9516b11859">TLMtrajectory::number_of_points</a></td>
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<p>number of points to interpolate </p>
<p>Definition at line <a class="el" href="lmBase_8h_source.html#l00049">49</a> of file <a class="el" href="lmBase_8h_source.html">lmBase.h</a>.</p>
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<a class="anchor" id="a7a6a1bdd1987bfa0f3e6a09171fde749"></a><!-- doxytag: member="TLMtrajectory::parameters" ref="a7a6a1bdd1987bfa0f3e6a09171fde749" args="" -->
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<td class="memname">short*** <a class="el" href="structTLMtrajectory.html#a7a6a1bdd1987bfa0f3e6a09171fde749">TLMtrajectory::parameters</a></td>
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<p>parameters to be sent in the command 'L' packet </p>
<p>Definition at line <a class="el" href="lmBase_8h_source.html#l00054">54</a> of file <a class="el" href="lmBase_8h_source.html">lmBase.h</a>.</p>
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<a class="anchor" id="a41907b1695851704125abc5a344345c0"></a><!-- doxytag: member="TLMtrajectory::points" ref="a41907b1695851704125abc5a344345c0" args="" -->
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<td class="memname"><a class="el" href="structTLM__points.html">TLM_points</a>* <a class="el" href="structTLMtrajectory.html#a41907b1695851704125abc5a344345c0">TLMtrajectory::points</a></td>
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<p>points to be interpolated </p>
<p>Definition at line <a class="el" href="lmBase_8h_source.html#l00050">50</a> of file <a class="el" href="lmBase_8h_source.html">lmBase.h</a>.</p>
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<a class="anchor" id="a7664e230454116e4d078244ddc0490b6"></a><!-- doxytag: member="TLMtrajectory::time" ref="a7664e230454116e4d078244ddc0490b6" args="" -->
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<td class="memname">double <a class="el" href="structTLMtrajectory.html#a7664e230454116e4d078244ddc0490b6">TLMtrajectory::time</a></td>
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<p>time that it takes from current position to target position </p>
<p>Definition at line <a class="el" href="lmBase_8h_source.html#l00047">47</a> of file <a class="el" href="lmBase_8h_source.html">lmBase.h</a>.</p>
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<hr/>The documentation for this struct was generated from the following file:<ul>
<li>include/KNI_LM/<a class="el" href="lmBase_8h_source.html">lmBase.h</a></li>
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