\section{trajectory Struct Reference}
\label{structtrajectory}\index{trajectory@{trajectory}}
{\tt \#include $<$trajectory\_\-manager.h$>$}

\subsection*{Data Fields}
\begin{CompactItemize}
\item 
enum {\bf trajectory\_\-state} {\bf state}
\item 
\begin{tabbing}
xx\=xx\=xx\=xx\=xx\=xx\=xx\=xx\=xx\=\kill
union \{\\
\>{\bf vect2\_cart} {\bf cart}\\
\>struct {\bf rs\_polar} {\bf pol}\\
\} {\bf target}\\

\end{tabbing}\item 
double {\bf d\_\-win}
\item 
double {\bf a\_\-win\_\-rad}
\item 
double {\bf a\_\-start\_\-rad}
\item 
uint16\_\-t {\bf d\_\-speed}
\item 
uint16\_\-t {\bf a\_\-speed}
\item 
struct {\bf robot\_\-position} $\ast$ {\bf position}
\item 
struct {\bf robot\_\-system} $\ast$ {\bf robot}
\item 
struct {\bf cs} $\ast$ {\bf csm\_\-angle}
\item 
struct {\bf cs} $\ast$ {\bf csm\_\-distance}
\item 
int8\_\-t {\bf scheduler\_\-task}
\end{CompactItemize}


\subsection{Detailed Description}


Definition at line 47 of file trajectory\_\-manager.h.

\subsection{Field Documentation}
\index{trajectory@{trajectory}!state@{state}}
\index{state@{state}!trajectory@{trajectory}}
\subsubsection[state]{\setlength{\rightskip}{0pt plus 5cm}enum {\bf trajectory\_\-state} {\bf trajectory::state}}\label{structtrajectory_75f4bc6f111abc596ca75651bec2507c}




Definition at line 48 of file trajectory\_\-manager.h.

Referenced by trajectory\_\-a\_\-abs(), trajectory\_\-a\_\-rel(), trajectory\_\-d\_\-a\_\-rel(), trajectory\_\-d\_\-rel(), trajectory\_\-goto\_\-d\_\-a\_\-rel(), trajectory\_\-goto\_\-forward\_\-xy\_\-abs(), trajectory\_\-goto\_\-xy\_\-abs(), trajectory\_\-goto\_\-xy\_\-rel(), trajectory\_\-hardstop(), trajectory\_\-in\_\-window(), trajectory\_\-init(), trajectory\_\-only\_\-a\_\-rel(), trajectory\_\-only\_\-d\_\-rel(), trajectory\_\-stop(), trajectory\_\-turnto\_\-xy(), and trajectory\_\-turnto\_\-xy\_\-behind().\index{trajectory@{trajectory}!cart@{cart}}
\index{cart@{cart}!trajectory@{trajectory}}
\subsubsection[cart]{\setlength{\rightskip}{0pt plus 5cm}{\bf vect2\_\-cart} {\bf trajectory::cart}}\label{structtrajectory_c11defca2bb4106ac3f3b34a6a08cf88}


$<$ target, if it is a x,y vector 

Definition at line 51 of file trajectory\_\-manager.h.

Referenced by trajectory\_\-goto\_\-d\_\-a\_\-rel(), trajectory\_\-goto\_\-forward\_\-xy\_\-abs(), trajectory\_\-goto\_\-xy\_\-abs(), and trajectory\_\-goto\_\-xy\_\-rel().\index{trajectory@{trajectory}!pol@{pol}}
\index{pol@{pol}!trajectory@{trajectory}}
\subsubsection[pol]{\setlength{\rightskip}{0pt plus 5cm}struct {\bf rs\_\-polar} {\bf trajectory::pol}\hspace{0.3cm}{\tt  [read]}}\label{structtrajectory_fa7db451555d91d0c1ffb09cac060570}


$<$ target, if it is a d,a vector 

Definition at line 52 of file trajectory\_\-manager.h.

Referenced by \_\-\_\-trajectory\_\-goto\_\-d\_\-a\_\-rel().\index{trajectory@{trajectory}!target@{target}}
\index{target@{target}!trajectory@{trajectory}}
\subsubsection[target]{\setlength{\rightskip}{0pt plus 5cm}union \{ ... \}   {\bf trajectory::target}}\label{structtrajectory_4dbac80aed0b6be9237008229b0a1bce}




Referenced by \_\-\_\-trajectory\_\-goto\_\-d\_\-a\_\-rel(), trajectory\_\-goto\_\-d\_\-a\_\-rel(), trajectory\_\-goto\_\-forward\_\-xy\_\-abs(), trajectory\_\-goto\_\-xy\_\-abs(), and trajectory\_\-goto\_\-xy\_\-rel().\index{trajectory@{trajectory}!d\_\-win@{d\_\-win}}
\index{d\_\-win@{d\_\-win}!trajectory@{trajectory}}
\subsubsection[d\_\-win]{\setlength{\rightskip}{0pt plus 5cm}double {\bf trajectory::d\_\-win}}\label{structtrajectory_5db0c7c86f3031e479dcc02df519b36f}


$<$ distance window (for END\_\-NEAR) 

Definition at line 55 of file trajectory\_\-manager.h.

Referenced by trajectory\_\-set\_\-windows().\index{trajectory@{trajectory}!a\_\-win\_\-rad@{a\_\-win\_\-rad}}
\index{a\_\-win\_\-rad@{a\_\-win\_\-rad}!trajectory@{trajectory}}
\subsubsection[a\_\-win\_\-rad]{\setlength{\rightskip}{0pt plus 5cm}double {\bf trajectory::a\_\-win\_\-rad}}\label{structtrajectory_e52fc6d593cf7fa3fab18dd726b5f505}


$<$ angle window (for END\_\-NEAR) 

Definition at line 56 of file trajectory\_\-manager.h.

Referenced by trajectory\_\-set\_\-windows().\index{trajectory@{trajectory}!a\_\-start\_\-rad@{a\_\-start\_\-rad}}
\index{a\_\-start\_\-rad@{a\_\-start\_\-rad}!trajectory@{trajectory}}
\subsubsection[a\_\-start\_\-rad]{\setlength{\rightskip}{0pt plus 5cm}double {\bf trajectory::a\_\-start\_\-rad}}\label{structtrajectory_718c4eb16271ada2222eb91c4439279e}


$<$ in xy consigns, start to move in distance when a\_\-target $<$ a\_\-start 

Definition at line 57 of file trajectory\_\-manager.h.

Referenced by trajectory\_\-set\_\-windows().\index{trajectory@{trajectory}!d\_\-speed@{d\_\-speed}}
\index{d\_\-speed@{d\_\-speed}!trajectory@{trajectory}}
\subsubsection[d\_\-speed]{\setlength{\rightskip}{0pt plus 5cm}uint16\_\-t {\bf trajectory::d\_\-speed}}\label{structtrajectory_fe978ee51d1ac23c8c5e47b5f687f221}


$<$ distance speed consign 

Definition at line 60 of file trajectory\_\-manager.h.

Referenced by trajectory\_\-set\_\-speed().\index{trajectory@{trajectory}!a\_\-speed@{a\_\-speed}}
\index{a\_\-speed@{a\_\-speed}!trajectory@{trajectory}}
\subsubsection[a\_\-speed]{\setlength{\rightskip}{0pt plus 5cm}uint16\_\-t {\bf trajectory::a\_\-speed}}\label{structtrajectory_859e837685e2933cefbbee26436e6940}


$<$ angle speed consign 

Definition at line 61 of file trajectory\_\-manager.h.

Referenced by trajectory\_\-set\_\-speed().\index{trajectory@{trajectory}!position@{position}}
\index{position@{position}!trajectory@{trajectory}}
\subsubsection[position]{\setlength{\rightskip}{0pt plus 5cm}struct {\bf robot\_\-position}$\ast$ {\bf trajectory::position}\hspace{0.3cm}{\tt  [read]}}\label{structtrajectory_612d1d2bbf37f99db75a0b4aa6bcfce8}


$<$ associated \doxyref{robot\_\-position}{p.}{structrobot__position} 

Definition at line 63 of file trajectory\_\-manager.h.

Referenced by \_\-\_\-trajectory\_\-goto\_\-d\_\-a\_\-rel(), trajectory\_\-a\_\-abs(), trajectory\_\-goto\_\-d\_\-a\_\-rel(), trajectory\_\-goto\_\-xy\_\-rel(), trajectory\_\-set\_\-robot\_\-params(), trajectory\_\-turnto\_\-xy(), and trajectory\_\-turnto\_\-xy\_\-behind().\index{trajectory@{trajectory}!robot@{robot}}
\index{robot@{robot}!trajectory@{trajectory}}
\subsubsection[robot]{\setlength{\rightskip}{0pt plus 5cm}struct {\bf robot\_\-system}$\ast$ {\bf trajectory::robot}\hspace{0.3cm}{\tt  [read]}}\label{structtrajectory_8c38e80b6953e361c9e7902051a9511f}


$<$ associated \doxyref{robot\_\-system}{p.}{structrobot__system} 

Definition at line 64 of file trajectory\_\-manager.h.

Referenced by \_\-\_\-trajectory\_\-goto\_\-d\_\-a\_\-rel(), trajectory\_\-hardstop(), and trajectory\_\-set\_\-robot\_\-params().\index{trajectory@{trajectory}!csm\_\-angle@{csm\_\-angle}}
\index{csm\_\-angle@{csm\_\-angle}!trajectory@{trajectory}}
\subsubsection[csm\_\-angle]{\setlength{\rightskip}{0pt plus 5cm}struct {\bf cs}$\ast$ {\bf trajectory::csm\_\-angle}\hspace{0.3cm}{\tt  [read]}}\label{structtrajectory_886385bbde2eaba8c7d82398790d9a53}


$<$ associated control system (angle) 

Definition at line 65 of file trajectory\_\-manager.h.

Referenced by \_\-\_\-trajectory\_\-goto\_\-d\_\-a\_\-rel(), trajectory\_\-finished(), trajectory\_\-hardstop(), and trajectory\_\-set\_\-cs().\index{trajectory@{trajectory}!csm\_\-distance@{csm\_\-distance}}
\index{csm\_\-distance@{csm\_\-distance}!trajectory@{trajectory}}
\subsubsection[csm\_\-distance]{\setlength{\rightskip}{0pt plus 5cm}struct {\bf cs}$\ast$ {\bf trajectory::csm\_\-distance}\hspace{0.3cm}{\tt  [read]}}\label{structtrajectory_ff2b7dcd30e8abd0e056d68eeb889e50}


$<$ associated control system (distance) 

Definition at line 66 of file trajectory\_\-manager.h.

Referenced by \_\-\_\-trajectory\_\-goto\_\-d\_\-a\_\-rel(), trajectory\_\-finished(), trajectory\_\-hardstop(), and trajectory\_\-set\_\-cs().\index{trajectory@{trajectory}!scheduler\_\-task@{scheduler\_\-task}}
\index{scheduler\_\-task@{scheduler\_\-task}!trajectory@{trajectory}}
\subsubsection[scheduler\_\-task]{\setlength{\rightskip}{0pt plus 5cm}int8\_\-t {\bf trajectory::scheduler\_\-task}}\label{structtrajectory_5d575c868ce06563ded1d1284e6aad05}


$<$ id of current task (-1 if no running task) 

Definition at line 68 of file trajectory\_\-manager.h.

Referenced by trajectory\_\-init().

The documentation for this struct was generated from the following file:\begin{CompactItemize}
\item 
aversive\_\-10-03-12/modules/devices/robot/trajectory\_\-manager/{\bf trajectory\_\-manager.h}\end{CompactItemize}
