Package org.chsrobotics.lib.trajectory.motionProfile

Class AsymmetricTrapezoidProfile.Constraints

java.lang.Object

org.chsrobotics.lib.trajectory.motionProfile.AsymmetricTrapezoidProfile.Constraints

Enclosing class:

AsymmetricTrapezoidProfile

public static class AsymmetricTrapezoidProfile.Constraints
extends Object

A data class to hold the maximum allowable rates for the output of a AsymmetricTrapezoidProfile.

Because of the number of cases this profile has to handle, acceleration and deceleration don't coorespond to acceleration in a specific direction, or towards higher/lower absolute values. It's probably best to think of them as the acceleration constraint for the first phase of motion, and deceleration constraint for the final phase of motion.

Field Summary

Fields

Modifier and Type	Field	Description
final double	maxAcceleration	Maximum "acceleration" the profile can achieve.
final double	maxDeceleration	Maximum "deceleration" the profile can achieve.
final double	maxVelocity	Maximum absolute velocity the profile can achieve.

Constructor Summary

Constructors

Constructor	Description
Constraints(double maxVelocity, double maxAcceleration, double maxDeceleration)	Constructs Constraints for a AsymmetricTrapezoidProfile.

Method Summary

Modifier and Type	Method	Description
boolean	equals(Object other)
int	hashCode()
String	toString()

Methods inherited from class java.lang.Object

getClass, notify, notifyAll, wait, wait, wait

Field Details

maxVelocity

public final double maxVelocity

Maximum absolute velocity the profile can achieve.

maxAcceleration

public final double maxAcceleration

Maximum "acceleration" the profile can achieve. Note that this does not coorespond to "positive" acceleration, just the acceleration at the initial part of the profile.

maxDeceleration

public final double maxDeceleration

Maximum "deceleration" the profile can achieve. Note that this does not coorespond to "negative" acceleration, just the acceleration at the final part of the profile.

Constructor Details

Constraints

public Constraints(double maxVelocity,
 double maxAcceleration,
 double maxDeceleration)

Constructs Constraints for a AsymmetricTrapezoidProfile.

Parameters:

maxVelocity - maximum velocity.

maxAcceleration - maximum acceleration.

maxDeceleration - maximum deceleration.

Method Details

equals

public boolean equals(Object other)

Overrides:

equals in class Object

hashCode

public int hashCode()

Overrides:

hashCode in class Object

toString

public String toString()

Overrides:

toString in class Object