modelPartialTrajectoryModel
This model collects all the common parameters and interfaces of the trajectory models
Parameters
| Type | Name | Default | Description |
|---|
| Real[3] | direction | normalize(stopPosition - startPosition) | Unit vector that indicates the direction of motion |
| SI.Distance | totalDistance | norm(stopPosition - startPosition) | Distance from initial point to final point |
| SI.Time | stopTime | startTime + transitionTime | output = stopPosition for time>=stopTime |
| Position |
| SI.Position[3] | startPosition | gp.initPlatformPos | Initial platform position resolved in base frame |
| SI.Position[3] | stopPosition | startPosition | Final platform position resolved in base frame |
| Time |
| SI.Time | startTime | 0 | output = startPosition for time<=startTime |
| SI.Time | transitionTime | 1 | Time required for the motion |
