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 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

@JvmStatic
 @JvmOverloads
 @NotNull
public static MotionProfile generateSimpleMotionProfile(@NotNull
                                                                                            MotionState start,
                                                                                            @NotNull
                                                                                            MotionState goal,
                                                                                            double maxVel,
                                                                                            double maxAccel,
                                                                                            double maxJerk,
                                                                                            boolean overshoot)

Generates a simple motion profile with constant maxVel, maxAccel, and maxJerk. If maxJerk is zero, an acceleration-limited profile will be generated instead of a jerk-limited one. 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 achieved.

Parameters:

start - start motion state

goal - goal motion state

maxVel - maximum velocity

maxAccel - maximum acceleration

maxJerk - maximum jerk

overshoot - if true overshoot otherwise violate constraints (see description above)

See Also:

maxVel, maxAccel, maxJerk, maxJerk, overshoot

generateSimpleMotionProfile

@JvmStatic
 @JvmOverloads
 @NotNull
public static MotionProfile generateSimpleMotionProfile(@NotNull
                                                                                            MotionState start,
                                                                                            @NotNull
                                                                                            MotionState goal,
                                                                                            double maxVel,
                                                                                            double maxAccel,
                                                                                            double maxJerk)

Generates a simple motion profile with constant maxVel, maxAccel, and maxJerk. If maxJerk is zero, an acceleration-limited profile will be generated instead of a jerk-limited one. 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 achieved.

Parameters:

start - start motion state

goal - goal motion state

maxVel - maximum velocity

maxAccel - maximum acceleration

maxJerk - maximum jerk

See Also:

maxVel, maxAccel, maxJerk, maxJerk, overshoot

generateSimpleMotionProfile

@JvmStatic
 @JvmOverloads
 @NotNull
public static MotionProfile generateSimpleMotionProfile(@NotNull
                                                                                            MotionState start,
                                                                                            @NotNull
                                                                                            MotionState goal,
                                                                                            double maxVel,
                                                                                            double maxAccel)

Generates a simple motion profile with constant maxVel, maxAccel, and maxJerk. If maxJerk is zero, an acceleration-limited profile will be generated instead of a jerk-limited one. 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 achieved.

Parameters:

start - start motion state

goal - goal motion state

maxVel - maximum velocity

maxAccel - maximum acceleration

See Also:

maxVel, maxAccel, maxJerk, maxJerk, overshoot

generateMotionProfile

@JvmStatic
 @JvmOverloads
 @NotNull
public static MotionProfile generateMotionProfile(@NotNull
                                                                                      MotionState start,
                                                                                      @NotNull
                                                                                      MotionState goal,
                                                                                      @NotNull
                                                                                      VelocityConstraint velocityConstraint,
                                                                                      @NotNull
                                                                                      AccelerationConstraint accelerationConstraint,
                                                                                      double 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

velocityConstraint - velocity constraint

accelerationConstraint - acceleration constraint

resolution - separation between constraint samples

See Also:

Sprunk2008.pdf

generateMotionProfile

@JvmStatic
 @JvmOverloads
 @NotNull
public static MotionProfile generateMotionProfile(@NotNull
                                                                                      MotionState start,
                                                                                      @NotNull
                                                                                      MotionState goal,
                                                                                      @NotNull
                                                                                      VelocityConstraint velocityConstraint,
                                                                                      @NotNull
                                                                                      AccelerationConstraint accelerationConstraint)

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

velocityConstraint - velocity constraint

accelerationConstraint - acceleration constraint

See Also:

Sprunk2008.pdf