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: http://www.apo.nmsu.edu/Telescopes/TCC/html/namespacetcc_1_1mov_1_1full_slew.html
Дата изменения: Tue Sep 15 02:25:41 2015 Дата индексирования: Sun Apr 10 04:41:17 2016 Кодировка: Поисковые слова: п п п п п п п п п п п п |
lsst.tcc
1.2.2-3-g89ecb63
|
Functions | |
def | fullSlew |
Compute a jerk-limited trapezoidal slew. More... | |
def tcc.mov.fullSlew.fullSlew | ( | pA, | |
vA, | |||
pB, | |||
vB, | |||
tJerk, | |||
vMax, | |||
aMax | |||
) |
Compute a jerk-limited trapezoidal slew.
Inputs:
[in] | pA | dp position of starting point at time t = 0 (deg) |
[in] | vA | dp velocity of starting point at time t = 0 (deg/sec) |
[in] | pB | dp position of ending point at time t = 0 (deg) |
[in] | vB | dp velocity of ending point at time t = 0 (deg/sec) |
[in] | tJerk | dp sets maximum allowed jerk and minimum slew duration (deg/sec^3) (see Details for more information) |
[in] | vMax | dp maximum allowed |velocity| (deg/sec) |
[in] | aMax | dp maximum allowed |acceleration| (deg/sec^2) |
RuntimeError | if cannot compute a slew |
Details: tJerk sets the maximum jerk and minimum duration of slew as follows:
Here is how the subroutine works:
First a trapezoidal slew is computed, with several special characterstics:
The resulting trapezoidal slew is then "rounded" to give jerk limiting, as follows:
Trapezoidal slews, and possibly jerk-limiting, are discussed further in my orange notebook.
Note: most of the equations used below are less algebraically straightforward than is possible. They have been processed to reduce accumulated error and limit the number of intermediate variables. For example, expressions such as j = a / dt are used to eliminate explicit reference to jerk.
History: 2013-12-06 ROwen Converted from mov_fullSlew.for
Definition at line 9 of file fullSlew.py.