Navigation/com.amarcolini.joos.profile/MotionProfileBuilder

MotionProfileBuilder

class MotionProfileBuilder(start: MotionState)

Easy-to-use builder for creating motion profiles.

Parameters

start

start motion state

Constructors

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constructor(start: MotionState)

Functions

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fun appendAccelerationControl(accel: Double, dt: Double): MotionProfileBuilder

Appends a constant-acceleration control for the provided duration.

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fun appendJerkControl(jerk: Double, dt: Double): MotionProfileBuilder

Appends a constant-jerk control for the provided duration.

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fun appendProfile(profile: MotionProfile): MotionProfileBuilder

Appends a MotionProfile to the current queue of control actions.

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fun build(): MotionProfile

Constructs and returns the MotionProfile instance.