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gui_project/mainwindow.cpp

@@ -71,7 +71,9 @@ void MainWindow::on_pushButton_create_motion_block_pressed(){
         r+=motion_block(vs, am, vo, acs, ltot, ve, ace, t,sr,vr,ar,ct);
         auto stop = std::chrono::high_resolution_clock::now();
         auto duration = std::chrono::duration_cast<std::chrono::nanoseconds>(stop - start);
-        std::cout << "Time taken by function nanoseconds: " << duration.count() << " milliseconds" << duration.count()*0.000001 <<std::endl;
+        std::cout << "Time taken by function nanoseconds: " << duration.count() << " milliseconds:" << duration.count()*0.000001 <<std::endl;
+
+        std::cout<<std::fixed<<"at_time:"<<t<<" sr:"<<sr<<" vr:"<<vr<<" ar:"<<ar<<" ct:"<<ct<<std::endl;
 
         //! The avarage function time = 1500 us.
         //! ns*0.000001=ms 0.0015 ms. This is ok for 1ms servo thread.
@@ -206,19 +208,19 @@ int MainWindow::motion_block(double vs, double am, double vo, double acs, double
 
 void MainWindow::on_pushButton_show_lin_curve_pressed()
 {
+    std::cout.precision(3);
     double vs=ui->doubleSpinBox_lin_velocity->value();
     double s=ui->doubleSpinBox_lin_displacment->value();
 
     double at_time=0;
     double ct=0;
     double sr=0;
+    double vr=0;
+    double ar=0;
     int r=0;
 
     r+=scurve_lineair(at_time,vs,s,ct,sr);
     if(!r){
-        std::cout<<"Curve time[ct]:"<<ct<<std::endl;
-        std::cout<<"Dispalcement[st] at [at_time]:"<<sr<<std::endl;
-
         //! Draw the full traject.
         Handle(AIS_Shape) aLine;
         aLine=draw_primitives().draw_3d_line({0,vs,0},{ct,vs,0});
@@ -227,7 +229,9 @@ void MainWindow::on_pushButton_show_lin_curve_pressed()
 
         for(double i=0; i<ct; i+=0.1){
             r+=scurve_lineair(i,vs,s,sr,ct);
-            std::cout<<"Dispalcement[st]:"<<sr<<" at_time[i]"<<i<<std::endl;
+            ar=0;   //! Zero acceleration during steady stage.
+            vr=vs;  //! Velocity = Max velocity.
+            std::cout<<std::fixed<<"at_time:"<<i<<" sr:"<<sr<<" vr:"<<vr<<" ar:"<<ar<<" ct:"<<ct<<std::endl;
         }
     }
 }

scurve.cpp

@@ -89,6 +89,9 @@ void Scurve::example_scurve(){
     if(ct<0){
         std::cout<<"curve time<0"<<std::endl;
     }
+    if(!r){
+        std::cout<<"at_time:"<<at_time<<" sr:"<<sr<<" vr:"<<vr<<" ar:"<<ar<<" ct:"<<ct<<" cs:"<<cs<<std::endl;
+    }
 }
 
 //! Inputs:
@@ -105,6 +108,7 @@ void Scurve::example_scurve(){
 //! vr=current velocity.
 //! ar=current acceleration.
 //! ct=total curve time.
+//! cs=total curve displacment.
 int Scurve::scurve_acc_dcc(int sct, double vo, double ve, double am, double acs, double ace, double at_time, double &sr, double &vr, double &ar, double &ct, double &cs){
 
     std::cout.precision(3);
@@ -312,14 +316,11 @@ void Scurve::example_motion(){
         auto start = std::chrono::high_resolution_clock::now();
         r+=motion_block(vs, am, vo, acs, ltot, ve, ace, t,sr,vr,ar,ct);
         if(!r){
-            std::cout<<std::fixed<<"sr:"<<sr<<std::endl;
-            std::cout<<std::fixed<<"vr:"<<vr<<std::endl;
-            std::cout<<std::fixed<<"ar:"<<ar<<std::endl;
-            std::cout<<std::fixed<<"ct:"<<ct<<std::endl;
+             std::cout<<"at_time:"<<at_time<<" sr:"<<sr<<" vr:"<<vr<<" ar:"<<ar<<" ct:"<<ct<<std::endl;
         }
         auto stop = std::chrono::high_resolution_clock::now();
         auto duration = std::chrono::duration_cast<std::chrono::nanoseconds>(stop - start);
-        std::cout << "Time taken by function nanoseconds: " << duration.count() << " milliseconds" << duration.count()*0.000001 <<std::endl;
+        std::cout << "Time taken by function nanoseconds: " << duration.count() << " milliseconds:" << duration.count()*0.000001 <<std::endl;
 
         //! The avarage function time = 1500 us.
         //! ns*0.000001=ms 0.0015 ms. This is ok for 1ms servo thread.

scurve.h

@@ -35,10 +35,8 @@ class SCURVE_EXPORT Scurve
     //! at_time=request curve at [t]
     //! vr=current_velocity at [t]
     //! ar=current acceleration at [t]
-    //!
-    //! ct=netto curve time [t] excluding acc start time, acc end time.
-    //! cs=netto curve displacement.
-    //!
+    //! ct=total curve time [t] excluding acc start time, acc end time.
+    //! cs=total curve displacement.
     int scurve_acc_dcc(int sct, double vo, double ve, double am, double acs, double ace, double at_time, double &sr, double &vr, double &ar, double &ct, double &cs);
     void example_scurve();