trapezoid_profile.h

#pragma once
 
typedef struct {
  double pos;   
  double vel;   
  double accel; 
 
} motion_t;
 
class TrapezoidProfile {
public:
  TrapezoidProfile(double max_v, double accel);
 
  motion_t calculate(double time_s);
 
  void set_endpts(double start, double end);
 
  void set_accel(double accel);
 
  void set_max_v(double max_v);
 
  double get_movement_time();
 
private:
  double start, end; 
  double max_v;      
  double accel;      
  double time;       
};