Package-level declarations

Constraint on robot acceleration during motion profiling.

Velocity constraint based on maximum angular velocity.

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.

Composite acceleration constraint that applies different constraints at different path positions.

Composite velocity constraint that applies different constraints at different path positions.

Acceleration-limited motion profile parameterized by displacement.

Composite velocity constraint that enforces the minimum of multiple constraints.

Acceleration constraint defined by constant minimum and maximum acceleration values.

Parameters for motion profile sampling and angular sampling.

Acceleration-limited motion profile parameterized by time.

Velocity constraint based on maximum translational velocity.

Constraint on robot velocity during motion profiling.

Converts available voltage to acceleration using the acceleration constant kA.

Computes an exact, time-optimal profile.

Creates displacement interval endpoints from sample points. Adds midpoints between samples to ensure proper interval representation.

Creates a complete displacement profile by generating forward and backward passes and merging them for optimal performance.

Generates a simple displacement profile with uniform sampling and constant constraints.

Generates a complete voltage-constrained profile with cancellation capability. This creates forward and backward profiles, merges them, and adds cancellation constraints.

Evaluates constraints for backward profile generation. Returns maximum velocities and minimum accelerations.

Evaluates velocity and acceleration constraints at the given sample points. Returns maximum velocities and accelerations for forward profile generation.

Generates a backward displacement profile by working backwards from the end. This is implemented by reversing the problem and using the forward algorithm.

Computes an approximately time-optimal profile from sampled constraints.

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

Generates a forward displacement profile by enforcing velocity and acceleration constraints. Uses a greedy approach to maximize velocity while respecting constraints.

Generates a backward profile based on path constraints.

Generates a forward profile based on path constraints by sampling the path and evaluating constraints at each sample point.

Generates sample points along the path based on displacement and angular resolution. Combines uniform displacement sampling with adaptive angular sampling.

Generates a simple backward profile with uniform sampling.

Generates a voltage-constrained backward profile.

Generates a voltage-constrained forward profile using motor model parameters.

Calculates the maximum acceleration achievable with the given voltage and motor constants.

Calculates the maximum velocity achievable with the given voltage and motor constants.

Merges two displacement profiles by taking the minimum velocity at every point. This is used to combine forward and backward profiles to create a time-optimal profile.

Combines two displacement profiles end-to-end. Requires that the ending velocity of the first profile matches the beginning velocity of the second.

Converts available voltage to velocity using the velocity constant kV.

Converts acceleration to required voltage using the acceleration constant kA.

Converts velocity to required voltage using the velocity constant kV.