TrajectoryState

enum TrajectoryState

Possible states a trajectory can be in.

enumerator InPosition

DemandPosition does not change.

enumerator Accelerating

The absolute value of DemandVelocity is increasing.

enumerator ConstantVelocity

DemandVelocity is constant and unequal to zero.

enumerator Decelerating

The absolute value of DemandVelocity is decreasing.

enumerator QuickStop

The trajectory interpolator gives setpoints belonging to a second order trajectory with zero end velocity and minimum distance, while satisfying the QuickstopDeceleration constraint.