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_N_GUI_CURVE_MOUSE Struct _N_GUI_GRID Struct _N_GUI_POPUP_ENTRY Struct _N_GUI_POPUP_LEVEL Struct _N_GUI_SB_SKIN Struct _N_GUI_TA_STEP Struct _N_GUI_THUMB Struct _N_GUI_WRAP_ACC Struct _compiled Struct _conn Struct _ip_slot Struct _mp_param Struct _n_civil Struct _seg Struct client Struct collector Struct date_vector Struct md_atom Struct md_cells Struct md_hit Struct md_line_ctx Struct mline Struct n_http_req_header Struct n_http_req_limits Struct n_http_request Struct n_markdown_block Struct n_markdown_doc Struct n_markdown_inline Struct n_markdown_span Struct n_reactor_stats Struct n_url_safe Struct n_url_safe_head Struct n_wrap_item Struct producer_state Struct rects Struct reply Struct runner Struct sink Struct tbuf Struct wrap_hit Struct wrap_span Structures Union COORD_VALUE Union HASH_DATA Union NODE_DATA_TYPES Union STACK_DATA dir_310dcdd4703e877a6b99d5dc3fc54d27 dir_68267d1309a1af8e8297ef4c3efbcdba dir_d28a4824dc47e487b107a5db32ef43c4 dir_d44c64559bbebec7f509842c48db8b23 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example ex_network_ws_limits_8c example ex_nstr_8c example ex_parallel_for_8c example ex_parallel_team_8c example ex_pcre_8c example ex_pretty_8c example ex_pth_8c example ex_query_8c example ex_random_8c example ex_sha256_8c example ex_signals_8c example ex_spawn_8c example ex_ssrf_8c example ex_stack_8c example ex_threads_8c example ex_tiff_8c example ex_time_formats_8c example ex_trajectory_8c example ex_trees_8c example ex_url_8c example ex_url_safe_8c example ex_wrap_8c example ex_x509_8c example ex_zip_8c example ex_zlib_8c example mainpage_8dox n__3d_8c n__3d_8h n__aabb_8c n__aabb_8h n__allegro5_8c n__allegro5_8h n__allegro__4_8c n__allegro__4_8h n__anim_8c n__anim_8h n__astar_8c n__astar_8h n__atlas_8c n__atlas_8h n__avro_8c n__avro_8h n__base64_8c n__base64_8h n__clipboard_8c n__clipboard_8h n__clock__sync_8c n__clock__sync_8h n__common_8c n__common_8h n__config__file_8c n__config__file_8h n__cookies_8c n__cookies_8h n__crypto_8c n__crypto_8h n__dead__reckoning_8c 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5 Struct TRAJECTORY
gullradriel edited this page 2026-10-09 00:55:18 +02:00
Table of Contents

TRAJECTORY

Module: TRAJECTORY: cubic Hermite spline dead reckoning and movement simulation for 2D/3D

structure holding all data for trajectory interpolation / extrapolation

#include "n_trajectory.h"

Public Attributes

Name
double start_time
timestamp of start state
PHYSICS start
state at trajectory start (initial known state)
TRAJECTORY_POINT * points
array of waypoints for multi-point paths (NULL if single segment)
int nb_points_allocated
allocated capacity of the points array
int nb_points
number of waypoints in the points array
int nb_components
number of components to process: TRAJECTORY_2D (2) or TRAJECTORY_3D (3)
int mode
current computation mode: TRAJECTORY_INTERP, TRAJECTORY_EXTRAP, or TRAJECTORY_BEFORE
VECTOR3D m1_orient
Hermite tangent at end for orientation (end.angular_speed * duration).
VECTOR3D m1
Hermite tangent at end for position (end.speed * duration).
VECTOR3D m0_orient
Hermite tangent at start for orientation (start.angular_speed * duration).
VECTOR3D m0
Hermite tangent at start for position (start.speed * duration).
double end_time
timestamp of end state
PHYSICS end
state at trajectory end (terminal known state)
double duration
duration = end_time - start_time
double current_time
last computed time
int current_segment
index of the currently loaded segment (points[i] -> points[i+1]), -1 if none
PHYSICS current
current computed state at current_time

Public Attributes Documentation

variable start_time

double start_time;

timestamp of start state

variable start

PHYSICS start;

state at trajectory start (initial known state)

variable points

TRAJECTORY_POINT * points;

array of waypoints for multi-point paths (NULL if single segment)

variable nb_points_allocated

int nb_points_allocated;

allocated capacity of the points array

variable nb_points

int nb_points;

number of waypoints in the points array

variable nb_components

int nb_components;

number of components to process: TRAJECTORY_2D (2) or TRAJECTORY_3D (3)

variable mode

int mode;

current computation mode: TRAJECTORY_INTERP, TRAJECTORY_EXTRAP, or TRAJECTORY_BEFORE

variable m1_orient

VECTOR3D m1_orient;

Hermite tangent at end for orientation (end.angular_speed * duration).

variable m1

VECTOR3D m1;

Hermite tangent at end for position (end.speed * duration).

variable m0_orient

VECTOR3D m0_orient;

Hermite tangent at start for orientation (start.angular_speed * duration).

variable m0

VECTOR3D m0;

Hermite tangent at start for position (start.speed * duration).

variable end_time

double end_time;

timestamp of end state

variable end

PHYSICS end;

state at trajectory end (terminal known state)

variable duration

double duration;

duration = end_time - start_time

variable current_time

double current_time;

last computed time

variable current_segment

int current_segment;

index of the currently loaded segment (points[i] -> points[i+1]), -1 if none

variable current

PHYSICS current;

current computed state at current_time

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