Revision 1c758459 src/server/neck_motion_generator.cpp
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float max_speed = (CONST_GUITTON87_A * distance_abs + CONST_GUITTON87_B); |
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//max accel: assuming linear acceleration we have |
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// v ^
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// | / \
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// | / \
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// |/_____\___> t
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//
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/* v ^
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* | / \
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* | / \
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* |/_____\___> t
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*/
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// d_total = 2 * 1/2 * a * (t_total/2)^2 = 1/4 * a * t_total^2 |
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// as we use linear accel we have |
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// v_max = a * t_total/2 --> t_total = 2*v_max / a |
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