Navigation/com.amarcolini.joos.profile/MotionSegment

MotionSegment

public final class MotionSegment

Segment of a motion profile with constant acceleration.

Parameters

start

start motion state

dt

time delta

Constructors

public MotionSegment MotionSegment(MotionState start, Double dt)

Properties

private final Double dt

private final MotionState start

Functions

public final MotionState end()

Returns the MotionState at the end of the segment (time dt).

public final MotionSegment flipped()

Returns a flipped (negated) version of the segment.

public final MotionState get(Double t)

Returns the MotionState at time t.

public final Double getDt()

public final MotionState getStart()

public final MotionSegment reversed()

Returns a reversed version of the segment. Note: it isn't possible to reverse a segment completely so this method only guarantees that the start and end velocities will be swapped.

public String toString()