1 /* 2 * Copyright (c) 2019-2020 Kevin Townsend (KTOWN) 3 * 4 * SPDX-License-Identifier: Apache-2.0 5 */ 6 7 /** 8 * @addtogroup KINEMATICS Kinematics 9 * 10 * @brief Kinematics functions. 11 * 12 * @ingroup PHYSICS 13 * @{ */ 14 15 /** 16 * @file 17 * @brief API header file for kinematics in zscilib. 18 * 19 * This file contains the zscilib kinematics APIs 20 */ 21 22 #ifndef ZEPHYR_INCLUDE_ZSL_KINEMATICS_H_ 23 #define ZEPHYR_INCLUDE_ZSL_KINEMATICS_H_ 24 25 #include <zsl/zsl.h> 26 27 #ifdef __cplusplus 28 extern "C" { 29 #endif 30 31 /** 32 * @brief Calculates the change in distance based on initial velocity, 33 * time and acceleration. 34 * 35 * @param vi Initial velocity in meters per second. 36 * @param time Time in seconds. 37 * @param accel Acceleration in meters per second squared. 38 * @param dist Pointer to the placeholder for calculated distance in meters. 39 * Will be set to NAN if time is a negative value. 40 * 41 * @return 0 on success, and non-zero error code on failure. 42 */ 43 int zsl_phy_kin_dist(zsl_real_t vi, zsl_real_t time, zsl_real_t accel, 44 zsl_real_t *dist); 45 46 /** 47 * @brief Calculates the initial position of a moving body based on the final 48 * position (xf), the initial velocity (vi), acceleration (a) and 49 * time (t). 50 * 51 * @param vi Initial velocity in meters per second. 52 * @param t Time in seconds. 53 * @param a Acceleration in meters per second squared. 54 * @param xf Final position in meters. 55 * @param xi Pointer to the placeholder for the initial position in meters. 56 * Will be set to NAN if time is a negative value. 57 * 58 * @return 0 on success, and non-zero error code on failure. 59 */ 60 int zsl_phy_kin_init_pos(zsl_real_t vi, zsl_real_t t, zsl_real_t a, 61 zsl_real_t xf, zsl_real_t *xi); 62 63 /** 64 * @brief Calculates the initial position of a moving body based on the final 65 * position (xf), the initial velocity (vi), the final velocity (vf) and 66 * acceleration (a). 67 * 68 * @param vi Initial velocity in meters per second. 69 * @param vf Final velocity in meters per second. 70 * @param a Acceleration in meters per second squared. 71 * @param xf Final position in meters. 72 * @param xi Pointer to the placeholder for the initial position in meters. 73 * Will be set to NAN if the acceleration's value is zero. 74 * 75 * @return 0 on success, and non-zero error code on failure. 76 */ 77 int zsl_phy_kin_init_pos2(zsl_real_t vi, zsl_real_t vf, zsl_real_t a, 78 zsl_real_t xf, zsl_real_t *xi); 79 80 /** 81 * @brief Calculates the time in seconds that it takes an object to change its 82 * velocity from vi to vf under a constant acceleration (accel). 83 * 84 * @param vi Initial velocity in meters per second. 85 * @param vf Final velocity in meters per second. 86 * @param accel Acceleration in meters per second squared. 87 * @param time Pointer to the placeholder for calculated time in seconds. Will 88 * be set to NAN if the time is negative or if the acceleration 89 * is zero. 90 * 91 * @return 0 on success, and non-zero error code on failure. 92 */ 93 int zsl_phy_kin_time(zsl_real_t vi, zsl_real_t vf, zsl_real_t accel, 94 zsl_real_t *time); 95 96 /** 97 * @brief Calculates the velocity in meters per second of an object under a 98 * constant acceleration (accel) based on its initial velocity (vi) and 99 * the time passed since it started moving (time). 100 * 101 * @param vi Initial velocity in meters per second. 102 * @param time Time in seconds. 103 * @param accel Acceleration in meters per second squared. 104 * @param vf Pointer to the output velocity in meters per second. Will 105 * be set to NAN if the time is negative. 106 * 107 * @return 0 on success, and non-zero error code on failure. 108 */ 109 int zsl_phy_kin_vel(zsl_real_t vi, zsl_real_t time, zsl_real_t accel, 110 zsl_real_t *vf); 111 112 /** 113 * @brief Calculates the velocity in meters per second of an object under a 114 * constant acceleration (accel) based on its initial velocity (vi) and 115 * the distance traveled from the starting point (dist). 116 * 117 * @param vi Initial velocity in meters per second. 118 * @param dist Distance in meters. 119 * @param accel Acceleration in meters per second squared. 120 * @param vf Pointer to the output velocity in meters per second. Will 121 * be set to NAN if the velocity takes a complex value. 122 * 123 * @return 0 on success, and non-zero error code on failure. 124 */ 125 int zsl_phy_kin_vel2(zsl_real_t vi, zsl_real_t dist, zsl_real_t accel, 126 zsl_real_t *vf); 127 128 /** 129 * @brief Calculates the initial velocity in meters per second of an object 130 * under a constant acceleration (a) based on its final velocity (vf) 131 * and time (t). 132 * 133 * @param vf Final velocity in meters per second. 134 * @param a Acceleration in meters per second squared. 135 * @param t Time in seconds. 136 * @param vi Pointer to the output initial velocity in meters per second. 137 * Will be set to NAN if the time is negative. 138 * 139 * @return 0 on success, and non-zero error code on failure. 140 */ 141 int zsl_phy_kin_init_vel(zsl_real_t vf, zsl_real_t a, zsl_real_t t, 142 zsl_real_t *vi); 143 144 /** 145 * @brief Calculates the initial velocity in meters per second of an object 146 * under a constant acceleration (a) based on the distance it has 147 * travelled (dist) and time (t). 148 * 149 * @param dist Distance in meters. 150 * @param a Acceleration in meters per second squared. 151 * @param t Time in seconds. 152 * @param vi Pointer to the output initial velocity in meters per second. 153 * Will be set to NAN if the time is negative or zero. 154 * 155 * @return 0 on success, and non-zero error code on failure. 156 */ 157 int zsl_phy_kin_init_vel2(zsl_real_t dist, zsl_real_t a, zsl_real_t t, 158 zsl_real_t *vi); 159 160 /** 161 * @brief Calculates the initial velocity in meters per second of an object 162 * under a constant acceleration (a) based on the distance it has 163 * travelled (dist) and the final velocity (vf). 164 * 165 * @param vf Final velocity in meters per second. 166 * @param a Acceleration in meters per second squared. 167 * @param dist Distance in meters. 168 * @param vi Pointer to the output initial velocity in meters per second. 169 * Will be set to NAN if the output velocity takes a complex value. 170 * 171 * @return 0 on success, and non-zero error code on failure. 172 */ 173 int zsl_phy_kin_init_vel3(zsl_real_t vf, zsl_real_t a, zsl_real_t dist, 174 zsl_real_t *vi); 175 176 /** 177 * @brief Calculates the average velocity in meters per second of a moving 178 * object based on the time and distance. 179 * 180 * @param dist Distance in meters. 181 * @param time Time in seconds. 182 * @param vel Pointer to the output velocity in meters per second. Will 183 * be set to NAN if the time is negative or zero. 184 * 185 * @return 0 on success, and non-zero error code on failure. 186 */ 187 int zsl_phy_kin_av_vel(zsl_real_t dist, zsl_real_t time, zsl_real_t *vel); 188 189 /** 190 * @brief Calculates the acceleration of a moving body in meters per second 191 * squared based on its initial (vi) and final (vf) velocities and time. 192 * 193 * @param vi Initial velocity in meters per second. 194 * @param vf Final velocity in meters per second. 195 * @param time Time in seconds. 196 * @param accel Pointer to the output acceleration in meters per second 197 * squared. Will be set to NAN if the time is negative or zero. 198 * 199 * @return 0 on success, and non-zero error code on failure. 200 */ 201 int zsl_phy_kin_accel(zsl_real_t vi, zsl_real_t vf, zsl_real_t time, 202 zsl_real_t *accel); 203 204 /** 205 * @brief Calculates the kinetic energy in joules of a moving body based on its 206 * velocity (v) and mass (m). 207 * 208 * @param v Velocity of the object in meters per second. 209 * @param m Mass of the object in kilograms. 210 * @param ke Pointer to the output kinetic energy in joules. Will be set to 211 * NAN if the mass is negative. 212 * 213 * @return 0 on success, and non-zero error code on failure. 214 */ 215 int zsl_phy_kin_ener(zsl_real_t v, zsl_real_t m, zsl_real_t *ke); 216 217 #ifdef __cplusplus 218 } 219 #endif 220 221 #endif /* ZEPHYR_INCLUDE_ZSL_KINEMATICS_H_ */ 222 223 /** @} */ /* End of kinematics group */ 224
