lmc_tg_config.h

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#ifndef LMC_TG_CONFIG
#define LMC_TG_CONFIG

#include <motion_control/lmc_config.h>
#include <motion_control/lmc_math.h>


#ifdef __cplusplus
extern "C" {
#endif /* __cplusplus */

typedef struct lmc_tg_limit {
    double jnt_max_v[LMC_MAX_JOINT_NUM];  
    double jnt_max_acc[LMC_MAX_JOINT_NUM]; 
    double jnt_pos_positive_limit[LMC_MAX_JOINT_NUM];  
    double jnt_pos_negative_limit[LMC_MAX_JOINT_NUM]; 
    double jnt_corner_dec_max_acc[LMC_MAX_JOINT_NUM]; 
    double jnt_corner_dec_max_delta_vel[LMC_MAX_JOINT_NUM]; 
    double cartesian_max_v; 
    double cartesian_max_acc; 
    double cartesian_max_rot_v; 
    double cartesian_max_rot_acc; 
    unsigned int jnt_acc_time_constant; 
} lmc_tg_limit_t;

typedef struct lmc_tg_config {
    double cycle_time; 
    size_t buffer_size; 
} lmc_tg_config_t;

#ifdef __cplusplus
}
#endif /* __cplusplus */

#endif /* LMC_TG_CONFIG */