com.acmerobotics.roadrunner.profile

Class MotionProfile

com.acmerobotics.roadrunner.profile.MotionProfile

public class MotionProfile

Trapezoidal motion profile composed of motion segments.

Constructor Summary

Constructors

Constructor and Description
MotionProfile(java.util.List<com.acmerobotics.roadrunner.profile.MotionSegment> segments) Trapezoidal motion profile composed of motion segments.
MotionProfile() Trapezoidal motion profile composed of motion segments.

Method Summary

Modifier and Type	Method and Description
double	duration() Returns the duration of the motion profile.
MotionState	end() Returns the end class MotionState.
MotionProfile	flipped() Returns a flipped version of the motion profile.
MotionState	get(double t) Returns the class MotionState at time t.
MotionProfile	plus(MotionProfile other) Returns a new motion profile with other concatenated.
MotionProfile	reversed() Returns a reversed version of the motion profile.
MotionState	start() Returns the start class MotionState.

Constructor Detail

MotionProfile

public MotionProfile(java.util.List<com.acmerobotics.roadrunner.profile.MotionSegment> segments)

Trapezoidal motion profile composed of motion segments.

Parameters:

segments - profile motion segments

segments - profile motion segments

MotionProfile

public MotionProfile()

Trapezoidal motion profile composed of motion segments.

Method Detail

get

public MotionState get(double t)

Returns the class MotionState at time t.

See Also:

class MotionState

duration

public double duration()

Returns the duration of the motion profile.

reversed

public MotionProfile reversed()

Returns a reversed version of the motion profile.

flipped

public MotionProfile flipped()

Returns a flipped version of the motion profile.

start

public MotionState start()

Returns the start class MotionState.

See Also:

class MotionState

end

public MotionState end()

Returns the end class MotionState.

See Also:

class MotionState

plus

public MotionProfile plus(MotionProfile other)

Returns a new motion profile with other concatenated.