| Real[3] | direction (from PartialTrajectoryModel) | normalize(stopPosition - startPosition) | Unit vector that indicates the direction of motion |
| SI.Distance | totalDistance (from PartialTrajectoryModel) | norm(stopPosition - startPosition) | Distance from initial point to final point |
| SI.Time | stopTime (from PartialTrajectoryModel) | startTime + transitionTime | output = stopPosition for time>=stopTime |
| SI.Velocity | initialSpeed | 0 | Initial platform speed (direction = stopPosition-startPosition, in base frame) |
| SI.Velocity | finalSpeed | 0 | Final platform speed (direction = stopPosition-startPosition, in base frame) |
| SI.Velocity | maxSpeed | 1 | Max platform speed (direction = stopPosition-startPosition, in base frame) |
| SI.Acceleration | maxAcceleration | 1 | Max platform acceleration (direction = stopPosition-startPosition, in base frame) |
| Real | temp | if case == 1 then 1 else sqrt(0.5*initialSpeed*initialSpeed + 0.5*finalSpeed*finalSpeed + ai*totalDistance) | |
| SI.Time | Ti | if case == 1 then Ti_bar else -initialSpeed/ai + temp/ai | Initial acceletation time |
| SI.Time | Tf | if case == 1 then Tf_bar else (finalSpeed - initialSpeed - ai*Ti)/af | Final acceleration time |
| SI.Time | Tc | if case == 1 then (totalDistance - Ti*initialSpeed - Tf*maxSpeed - 0.5*ai*Ti^2 - 0.5*af*Tf^2)/maxSpeed else 0 | Constant speed time |
| Real[3] | initialSpeedVector | initialSpeed*direction | |
| Real[3] | finalSpeedVector | finalSpeed*direction | |
| Real[3] | maxSpeedVector | if case == 1 then maxSpeed*direction else initialSpeedVector + ai*direction*Ti | |
| Position |
| SI.Position[3] | startPosition (from PartialTrajectoryModel) | gp.initPlatformPos | Initial platform position resolved in base frame |
| SI.Position[3] | stopPosition (from PartialTrajectoryModel) | startPosition | Final platform position resolved in base frame |
| Time |
| SI.Time | startTime (from PartialTrajectoryModel) | 0 | output = startPosition for time<=startTime |
| SI.Time | transitionTime (from PartialTrajectoryModel) | 1 | Time required for the motion |
