com.acmerobotics.roadrunner.profile

Class MotionSegment

com.acmerobotics.roadrunner.profile.MotionSegment

public class MotionSegment

Segment of a motion profile with constant acceleration.

Constructor Summary

Constructors

Constructor and Description
MotionSegment(MotionState start, double dt) Segment of a motion profile with constant acceleration.

Method Summary

Modifier and Type	Method and Description
MotionState	end() Returns the class MotionState at the end of the segment (time dt).
MotionSegment	flipped() Returns a flipped (negated) version of the segment.
MotionState	get(double t) Returns the class MotionState at time t.
double	getDt() time delta
MotionState	getStart() start motion state
MotionSegment	reversed() Returns a reversed version of the segment. Note: it isn't possible to reverse a segment completely so this method only guarantees that the start and end velocities will be swapped.
java.lang.String	toString()

Constructor Detail

MotionSegment

public MotionSegment(@NotNull
                     MotionState start,
                     double dt)

Segment of a motion profile with constant acceleration.

Parameters:

start - start motion state

dt - time delta

Method Detail

get

@NotNull
public MotionState get(double t)

Returns the class MotionState at time t.

See Also:

class MotionState, t

end

@NotNull
public MotionState end()

Returns the class MotionState at the end of the segment (time dt).

See Also:

class MotionState

reversed

@NotNull
public MotionSegment reversed()

Returns a reversed version of the segment. Note: it isn't possible to reverse a segment completely so this method only guarantees that the start and end velocities will be swapped.

flipped

@NotNull
public MotionSegment flipped()

Returns a flipped (negated) version of the segment.

toString

@NotNull
public java.lang.String toString()

getStart

@NotNull
public MotionState getStart()

start motion state

getDt

public double getDt()

time delta