49 lines
1.0 KiB
C
49 lines
1.0 KiB
C
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#ifndef SCURVE_H
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#define SCURVE_H
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/* 归一化后的s曲线 */
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#include <iostream>
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class SCurve{
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public:
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SCurve(){}
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~SCurve(){}
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void setSCurve(double deltaQ, double dQMax, double ddQMax, double dddQMax);
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void restart();
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/*
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考虑到归一化，在实际使用时，物理量为：
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加速度 = deltaQ * getDDs();
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*/
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double getDDs();
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double getDDs(double t);
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/*
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考虑到归一化，在实际使用时，物理量为：
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速度 = deltaQ * getDs();
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*/
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double getDs();
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double getDs(double t);
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/*
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考虑到归一化，在实际使用时，物理量为：
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位置 = deltaQ * gets();
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*/
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double gets();
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double gets(double t);
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double getT();
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private:
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int _getSegment(double t);
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void _setFunc();
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double _runTime();
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bool _started = false;
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double _startTime;
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double _J, _aMax, _vMax;
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double _T[7]; // period
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double _t[7]; // moment
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double _v0, _v1; // ds at _t[0], _t[1]
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double _s0, _s1, _s2, _s3, _s4, _s5, _s6; // s at _t[0], _t[1]
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};
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#endif // SCURVE_H
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