simplify equations

pantor · Jan 8, 2021 · 18247f7 · 18247f7
1 parent 245f920
commit 18247f7
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Showing 4 changed files with 690 additions and 351 deletions.
diff --git a/include/ruckig/ruckig.hpp b/include/ruckig/ruckig.hpp
@@ -97,6 +97,9 @@ class Step2 {
     double p0, v0, a0;
     double pf, vf, af;
 
+    // Pre-calculated expressions
+    double pd;
+
     bool time_up_acc0_acc1_vel(Profile& profile, double vMax, double aMax, double jMax);
     bool time_up_acc1_vel(Profile& profile, double vMax, double aMax, double jMax);
     bool time_up_acc0_vel(Profile& profile, double vMax, double aMax, double jMax);