Navigation/com.amarcolini.joos.profile

Package-level declarations

Motion profile representation and generation

Types

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fun interface AccelerationConstraint

Motion profile acceleration constraint.

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class MotionProfile(val segments: List<MotionSegment>)

Trapezoidal motion profile composed of motion segments.

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class MotionProfileBuilder(start: MotionState)

Easy-to-use builder for creating motion profiles.

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object MotionProfileGenerator

Motion profile generator with arbitrary start and end motion states and either dynamic constraints or jerk limiting.

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class MotionSegment(val start: MotionState, val dt: Double)

Segment of a motion profile with constant acceleration.

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class MotionState @JvmOverloads constructor(val x: Double, val v: Double, val a: Double = 0.0, val j: Double = 0.0)

Kinematic state of a motion profile at any given time.

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fun interface VelocityConstraint

Motion profile velocity constraint.