kinematics.h

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/*
 * Copyright (c) 2019-2020 Kevin Townsend (KTOWN)
 *
 * SPDX-License-Identifier: Apache-2.0
 */
 
#ifndef ZEPHYR_INCLUDE_ZSL_KINEMATICS_H_
#define ZEPHYR_INCLUDE_ZSL_KINEMATICS_H_
 
#include <zsl/zsl.h>
 
#ifdef __cplusplus
extern "C" {
#endif
 
int zsl_phy_kin_dist(zsl_real_t vi, zsl_real_t time, zsl_real_t accel,
             zsl_real_t *dist);
 
int zsl_phy_kin_init_pos(zsl_real_t vi, zsl_real_t t, zsl_real_t a,
             zsl_real_t xf, zsl_real_t *xi);
 
int zsl_phy_kin_init_pos2(zsl_real_t vi, zsl_real_t vf, zsl_real_t a,
              zsl_real_t xf, zsl_real_t *xi);
 
int zsl_phy_kin_time(zsl_real_t vi, zsl_real_t vf, zsl_real_t accel,
             zsl_real_t *time);
 
int zsl_phy_kin_vel(zsl_real_t vi, zsl_real_t time, zsl_real_t accel,
            zsl_real_t *vf);
 
int zsl_phy_kin_vel2(zsl_real_t vi, zsl_real_t dist, zsl_real_t accel,
             zsl_real_t *vf);
 
int zsl_phy_kin_init_vel(zsl_real_t vf, zsl_real_t a, zsl_real_t t,
             zsl_real_t *vi);
 
int zsl_phy_kin_init_vel2(zsl_real_t dist, zsl_real_t a, zsl_real_t t,
              zsl_real_t *vi);
 
int zsl_phy_kin_init_vel3(zsl_real_t vf, zsl_real_t a, zsl_real_t dist,
                  zsl_real_t *vi);
 
int zsl_phy_kin_av_vel(zsl_real_t dist, zsl_real_t time, zsl_real_t *vel);
 
int zsl_phy_kin_accel(zsl_real_t vi, zsl_real_t vf, zsl_real_t time,
              zsl_real_t *accel);
 
int zsl_phy_kin_ener(zsl_real_t v, zsl_real_t m, zsl_real_t *ke);
 
#ifdef __cplusplus
}
#endif
 
#endif /* ZEPHYR_INCLUDE_ZSL_KINEMATICS_H_ */
 /* End of kinematics group */