com.acmerobotics.roadrunner.profile

Class MotionProfile

com.acmerobotics.roadrunner.profile.MotionProfile

public class MotionProfile

Trapezoidal motion profile composed of motion segments.

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