Package org.chsrobotics.lib.trajectory.motionProfile

Class ProfilePhase

java.lang.Object
org.chsrobotics.lib.trajectory.motionProfile.ProfilePhase
public class ProfilePhase extends Object
Holds constant-acceleration kinematic rates and time.

  • Field Summary

    Fields
    Modifier and Type
    Field
    Description
    final double
    acceleration
    Acceleration through the phase.
    final double
    initialVelocity
    Velocity of the phase at its start.
    final double
    position
    Change in position through the phase.
    final double
    time
    Time to complete the phase.

  • Constructor Summary

    Constructors
    Constructor
    Description
    ProfilePhase(double acceleration, double initialVelocity, double time)
    Constructs a ProfilePhase from a given acceleration, initial velocity, and time.

  • 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

    • time

      public final double time
      Time to complete the phase.

    • position

      public final double position
      Change in position through the phase.

    • acceleration

      public final double acceleration
      Acceleration through the phase.

    • initialVelocity

      public final double initialVelocity
      Velocity of the phase at its start.

  • Constructor Details

    • ProfilePhase

      public ProfilePhase(double acceleration, double initialVelocity, double time)
      Constructs a ProfilePhase from a given acceleration, initial velocity, and time.
      Parameters:
      acceleration - The acceleration throughout this phase.
      initialVelocity - The velocity at the start of the phase.
      time - The duration of the phase.

  • Method Details