RSIMotionType

enum class RSIMotionType

strong

Motion Type	Supports Preloaded Motion	Supports Continuous Streaming Motion	Method
PT	✅	✅	MovePT
BSPLINE	✅	✅	MovePT
SPLINE	✅	❌	MovePT
BESSEL	✅	❌	MovePT
BSPLINE2	✅	❌	MovePT
PVT	✅	✅	MovePVT
PVAJT	✅	❌	MovePVAJT

See also

Streaming Motion, PT Streaming Motion

Enumerator
RSIMotionTypePT	Position-Time algorithm with continuous position but discontinuous velocity. Best for short time intervals.
RSIMotionTypeBSPLINE	3rd-order B-Spline algorithm with continuous velocity and acceleration; trajectory does not pass through control points.
RSIMotionTypeSPLINE	Spline algorithm with continuous velocity and acceleration; velocity may be discontinuous at the end unless final point is repeated.
RSIMotionTypeBESSEL	Bessel algorithm with continuous velocity but discontinuous acceleration; smoother than PT but less smooth than other splines.
RSIMotionTypeBSPLINE2	2nd-order B-Spline algorithm with continuous velocity but discontinuous acceleration; trajectory does not pass through control points.
RSIMotionTypePVT	Position-Velocity-Time algorithm with continuous position and velocity; acceleration and jerk are calculated between points but may be discontinuous at the control points, ensuring the specified values are met accurately.
RSIMotionTypeCONSTRAINED_SMOOTH1	(beta) acceleration constrained smoothing of PT points
RSIMotionTypeCONSTRAINED_SMOOTH2	(beta) acceleration constrained smoothing of PT points
RSIMotionTypePTF	Position-Time-Feedforward algorithm with continuous position but discontinuous velocity, includes feedforward control output.
RSIMotionTypePVTF	Position-Velocity-Time-Feedforward algorithm with continuous position and velocity, includes feedforward control output.

Definition at line 1038 of file rsienums.h.