core / com.acmerobotics.roadrunner.profile / MotionState

MotionState

class MotionState (source)

Kinematic state of a motion profile at any given time.

Constructors

<init>

Kinematic state of a motion profile at any given time.

MotionState(x: Double, v: Double, a: Double = 0.0, j: Double = 0.0)

Properties

a

val a: Double

j

val j: Double

v

val v: Double

x

val x: Double

Functions

flipped

Returns a flipped (negated) version of the state.

fun flipped(): MotionState

get

Returns the MotionState at time t.

operator fun get(t: Double): MotionState

stationary

Returns the state with velocity, acceleration, and jerk zeroed.

fun stationary(): MotionState

toString

fun toString(): String