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.

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(@NotNull
                     java.util.List<com.acmerobotics.roadrunner.profile.MotionSegment> segments)

Trapezoidal motion profile composed of motion segments.

Parameters:

segments - profile motion segments

Method Detail

get

@NotNull
public MotionState get(double t)

Returns the class MotionState at time t.

See Also:

class MotionState, t

duration

public double duration()

Returns the duration of the motion profile.

reversed

@NotNull
public MotionProfile reversed()

Returns a reversed version of the motion profile.

flipped

@NotNull
public MotionProfile flipped()

Returns a flipped version of the motion profile.

start

@NotNull
public MotionState start()

Returns the start class MotionState.

See Also:

class MotionState

end

@NotNull
public MotionState end()

Returns the end class MotionState.

See Also:

class MotionState

plus

@NotNull
public MotionProfile plus(@NotNull
                                   MotionProfile other)

Returns a new motion profile with other concatenated.

See Also:

other