com.acmerobotics.roadrunner.profile

Class SimpleMotionConstraints

com.acmerobotics.roadrunner.profile.SimpleMotionConstraints

All Implemented Interfaces:

MotionConstraints

public class SimpleMotionConstraints
implements MotionConstraints

Constant velocity and acceleration constraints used by MotionProfileGenerator.generateSimpleMotionProfile.

See Also:

MotionProfileGenerator.generateSimpleMotionProfile

Field Summary

Fields

Modifier and Type	Field and Description
double	maximumAcceleration constant maximum acceleration
double	maximumVelocity constant maximum velocity

Constructor Summary

Constructors

Constructor and Description
SimpleMotionConstraints(double maximumVelocity, double maximumAcceleration) Constant velocity and acceleration constraints used by MotionProfileGenerator.generateSimpleMotionProfile.

Method Summary

Modifier and Type	Method and Description
double	maximumAcceleration(double displacement) Returns the maximum acceleration displacement units along the profile.
double	maximumVelocity(double displacement) Returns the maximum velocity displacement units along the profile.

Methods inherited from interface com.acmerobotics.roadrunner.profile.MotionConstraints

maximumAcceleration, maximumVelocity

Field Detail

maximumVelocity

public double maximumVelocity

constant maximum velocity

maximumAcceleration

public double maximumAcceleration

constant maximum acceleration

Constructor Detail

SimpleMotionConstraints

public SimpleMotionConstraints(double maximumVelocity,
                               double maximumAcceleration)

Constant velocity and acceleration constraints used by MotionProfileGenerator.generateSimpleMotionProfile.

Parameters:

maximumVelocity - constant maximum velocity

maximumAcceleration - constant maximum acceleration

maximumVelocity - constant maximum velocity

maximumAcceleration - constant maximum acceleration

See Also:

MotionProfileGenerator.generateSimpleMotionProfile

Method Detail

maximumVelocity

public double maximumVelocity(double displacement)

Returns the maximum velocity displacement units along the profile.

maximumAcceleration

public double maximumAcceleration(double displacement)

Returns the maximum acceleration displacement units along the profile.