com.acmerobotics.roadrunner.profile

Class MotionProfileGenerator

com.acmerobotics.roadrunner.profile.MotionProfileGenerator

public class MotionProfileGenerator

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

Field Summary

Fields

Modifier and Type	Field and Description
static MotionProfileGenerator	INSTANCE Motion profile generator with arbitrary start and end motion states and either dynamic constraints or jerk limiting.

Method Summary

Modifier and Type	Method and Description
static MotionProfile	generateMotionProfile(MotionState start, MotionState goal, MotionConstraints constraints, int resolution) Generates a motion profile with dynamic maximum velocity and acceleration. Uses the algorithm described in section 3.2 of Sprunk2008.pdf. Warning: Profiles may be generated incorrectly if the endpoint velocity/acceleration values preclude the obedience of the motion constraints. To protect against this, verify the continuity of the generated profile or keep the start and goal velocities at 0.
static MotionProfile	generateMotionProfile(MotionState start, MotionState goal, MotionConstraints constraints) Generates a motion profile with dynamic maximum velocity and acceleration. Uses the algorithm described in section 3.2 of Sprunk2008.pdf. Warning: Profiles may be generated incorrectly if the endpoint velocity/acceleration values preclude the obedience of the motion constraints. To protect against this, verify the continuity of the generated profile or keep the start and goal velocities at 0.
static MotionProfile	generateSimpleMotionProfile(MotionState start, MotionState goal, double maximumVelocity, double maximumAcceleration, double maximumJerk, boolean overshoot) Generates a simple motion profile with constant maximumVelocity, maximumAcceleration, and maximumJerk. If constraints can't be obeyed, there are two possible fallbacks. If overshoot is true, then two profiles will be concatenated (the first one overshoots the goal and the second one reverses back to reach the goal). Otherwise, The highest order constraint (e.g., max jerk for jerk-limited profiles) is repeatedly violated until the goal is satisfiable.
static MotionProfile	generateSimpleMotionProfile(MotionState start, MotionState goal, double maximumVelocity, double maximumAcceleration, double maximumJerk) Generates a simple motion profile with constant maximumVelocity, maximumAcceleration, and maximumJerk. If constraints can't be obeyed, there are two possible fallbacks. If overshoot is true, then two profiles will be concatenated (the first one overshoots the goal and the second one reverses back to reach the goal). Otherwise, The highest order constraint (e.g., max jerk for jerk-limited profiles) is repeatedly violated until the goal is satisfiable.
static MotionProfile	generateSimpleMotionProfile(MotionState start, MotionState goal, double maximumVelocity, double maximumAcceleration) Generates a simple motion profile with constant maximumVelocity, maximumAcceleration, and maximumJerk. If constraints can't be obeyed, there are two possible fallbacks. If overshoot is true, then two profiles will be concatenated (the first one overshoots the goal and the second one reverses back to reach the goal). Otherwise, The highest order constraint (e.g., max jerk for jerk-limited profiles) is repeatedly violated until the goal is satisfiable.

Field Detail

INSTANCE

public static MotionProfileGenerator INSTANCE

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

Method Detail

generateSimpleMotionProfile

public static MotionProfile generateSimpleMotionProfile(MotionState start,
                                                        MotionState goal,
                                                        double maximumVelocity,
                                                        double maximumAcceleration,
                                                        double maximumJerk,
                                                        boolean overshoot)

Generates a simple motion profile with constant maximumVelocity, maximumAcceleration, and maximumJerk. If constraints can't be obeyed, there are two possible fallbacks. If overshoot is true, then two profiles will be concatenated (the first one overshoots the goal and the second one reverses back to reach the goal). Otherwise, The highest order constraint (e.g., max jerk for jerk-limited profiles) is repeatedly violated until the goal is satisfiable.

Parameters:

start - start motion state

goal - goal motion state

maximumVelocity - maximum velocity

maximumAcceleration - maximum acceleration

maximumJerk - maximum jerk

overshoot -

generateSimpleMotionProfile

public static MotionProfile generateSimpleMotionProfile(MotionState start,
                                                        MotionState goal,
                                                        double maximumVelocity,
                                                        double maximumAcceleration,
                                                        double maximumJerk)

Generates a simple motion profile with constant maximumVelocity, maximumAcceleration, and maximumJerk. If constraints can't be obeyed, there are two possible fallbacks. If overshoot is true, then two profiles will be concatenated (the first one overshoots the goal and the second one reverses back to reach the goal). Otherwise, The highest order constraint (e.g., max jerk for jerk-limited profiles) is repeatedly violated until the goal is satisfiable.

Parameters:

start - start motion state

goal - goal motion state

maximumVelocity - maximum velocity

maximumAcceleration - maximum acceleration

maximumJerk - maximum jerk

generateSimpleMotionProfile

public static MotionProfile generateSimpleMotionProfile(MotionState start,
                                                        MotionState goal,
                                                        double maximumVelocity,
                                                        double maximumAcceleration)

Generates a simple motion profile with constant maximumVelocity, maximumAcceleration, and maximumJerk. If constraints can't be obeyed, there are two possible fallbacks. If overshoot is true, then two profiles will be concatenated (the first one overshoots the goal and the second one reverses back to reach the goal). Otherwise, The highest order constraint (e.g., max jerk for jerk-limited profiles) is repeatedly violated until the goal is satisfiable.

Parameters:

start - start motion state

goal - goal motion state

maximumVelocity - maximum velocity

maximumAcceleration - maximum acceleration

generateMotionProfile

public static MotionProfile generateMotionProfile(MotionState start,
                                                  MotionState goal,
                                                  MotionConstraints constraints,
                                                  int resolution)

Generates a motion profile with dynamic maximum velocity and acceleration. Uses the algorithm described in section 3.2 of Sprunk2008.pdf. Warning: Profiles may be generated incorrectly if the endpoint velocity/acceleration values preclude the obedience of the motion constraints. To protect against this, verify the continuity of the generated profile or keep the start and goal velocities at 0.

Parameters:

start - start motion state

goal - goal motion state

constraints - motion constraints

resolution - number of constraint samples

See Also:

Sprunk2008.pdf

generateMotionProfile

public static MotionProfile generateMotionProfile(MotionState start,
                                                  MotionState goal,
                                                  MotionConstraints constraints)

Generates a motion profile with dynamic maximum velocity and acceleration. Uses the algorithm described in section 3.2 of Sprunk2008.pdf. Warning: Profiles may be generated incorrectly if the endpoint velocity/acceleration values preclude the obedience of the motion constraints. To protect against this, verify the continuity of the generated profile or keep the start and goal velocities at 0.

Parameters:

start - start motion state

goal - goal motion state

constraints - motion constraints

See Also:

Sprunk2008.pdf