core/com.acmerobotics.roadrunner.profiles

Package-level declarations

Types

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fun interface AccelConstraint
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class AngularVelConstraint(val maxAngVel: Double) : VelConstraint
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@Serializable
@SerialName(value = "CancelableProfile")
class CancelableProfile(val baseProfile: DisplacementProfile, val disps: List<Double>, val minAccels: List<Double>) : Profile

Displacement profile that can be canceled at any time to yield a new displacement profile that achieves the final velocity as soon as possible and then promptly ends.

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class CompositeAccelConstraint(val constraints: List<AccelConstraint>, val offsets: List<Double>) : AccelConstraint
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class CompositeVelConstraint(val constraints: List<VelConstraint>, val offsets: List<Double>) : VelConstraint
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@Serializable
@SerialName(value = "DisplacementProfile")
data class DisplacementProfile(val disps: List<Double>, val vels: List<Double>, val accels: List<Double>) : Profile

Acceleration-limited motion profile parameterized by displacement.

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class MinVelConstraint(val constraints: List<VelConstraint>) : VelConstraint
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interface Profile
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class ProfileAccelConstraint(val minAccel: Double, val maxAccel: Double) : AccelConstraint
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data class ProfileParams(val dispResolution: Double, val angResolution: Double, val angSamplingEps: Double)
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@Serializable
@SerialName(value = "TimeProfile")
data class TimeProfile @JvmOverloads constructor(val dispProfile: DisplacementProfile, val times: List<Double> = timeScan(dispProfile)) : Profile

Acceleration-limited motion profile parameterized by time.

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class TranslationalVelConstraint(val maxTransVel: Double) : VelConstraint
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fun interface VelConstraint

Functions

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fun backwardProfile(disps: List<Double>, maxVels: List<Double>, endVel: Double, minAccels: List<Double>): DisplacementProfile

Computes an approximately time-optimal backward profile from the center-sampled constraints. No restriction is imposed on the maximum acceleration.

fun backwardProfile(params: ProfileParams, path: PosePath, velConstraint: VelConstraint, endVel: Double, accelConstraint: AccelConstraint): DisplacementProfile

fun backwardProfile(length: Double, maxVel: (Double) -> Double, endVel: Double, minAccel: (Double) -> Double, resolution: Double): DisplacementProfile

Computes an approximately time-optimal backward profile by sampling the constraints according to the resolution resolution. No restriction is imposed on the minimum acceleration.

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fun constantProfile(length: Double, beginEndVel: Double, maxVel: Double, minAccel: Double, maxAccel: Double): CancelableProfile

Computes an exact, time-optimal profile.

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fun forwardProfile(disps: List<Double>, beginVel: Double, maxVels: List<Double>, maxAccels: List<Double>): DisplacementProfile

Computes an approximately time-optimal forward profile from the center-sampled constraints. No restriction is imposed on the minimum acceleration.

fun forwardProfile(params: ProfileParams, path: PosePath, beginVel: Double, velConstraint: VelConstraint, accelConstraint: AccelConstraint): DisplacementProfile

fun forwardProfile(length: Double, beginVel: Double, maxVel: (Double) -> Double, maxAccel: (Double) -> Double, resolution: Double): DisplacementProfile

Computes an approximately time-optimal forward profile by sampling the constraints according to the resolution resolution. No restriction is imposed on the minimum acceleration.

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fun merge(p1: DisplacementProfile, p2: DisplacementProfile): DisplacementProfile

Merges p1 and p2 into another profile with the minimum velocity of the two at every point.

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fun profile(params: ProfileParams, path: PosePath, beginEndVel: Double, velConstraint: VelConstraint, accelConstraint: AccelConstraint): CancelableProfile

fun profile(disps: List<Double>, beginEndVel: Double, maxVels: List<Double>, minAccels: List<Double>, maxAccels: List<Double>): CancelableProfile

Computes an approximately time-optimal profile from sampled constraints.

fun profile(length: Double, beginEndVel: Double, maxVel: (Double) -> Double, minAccel: (Double) -> Double, maxAccel: (Double) -> Double, resolution: Double): CancelableProfile

Computes an approximately time-optimal profile by sampling the constraints according to the resolution resolution.

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fun samplePathByRotation(path: PosePath, angResolution: Double, eps: Double): List<Double>