a c++ sc_engine library
sc_engine:
- scurvature motion profiles.
- constant jerk.
- using periods t1,t2,t3,t4,t5,t6,t7.
- realtime performance ~0.02, ~0.06 ms cycle.
sc_planner, sc_planner_gui:
- start, stop, pause, pause-resume.
- adaptive-feed.
- waypoints.
- acceleration start, end values.
- "vm" velocity max interupts.
- interpolation of waypoints.
sc_optimizer, sc_optimizer_gui:
- reduces corner speeds.
- reduces gforce for arc's.
- set's velocity transitions.
- calculate gforce.
sc_pid, sc_pid_gui:
- stand alone motion follower.
sc_interpolate:
- 9 axis interpolation module.
sc_primitives, sc_primitives_gui:
- Example how curvatures work in this library.
sc_curves_gui:
- Example to construct one motion. vo->vm->ve.
sc_common:
- Basic's to use in the sc_project.
sc_engine:
- Using inline.
- No std::cout in time critical area's. sc_planner:
- state machine.
The sc_engine has no dependencies and is written in c++20.
Gui apps depends on Qt.
Some classes depends on Eigen3.
Read the comments in the toplevel CMakeLists.txt file.
To deploy this project run
mkdir build
cd build
cmake ..
make