Package org.chsrobotics.lib.trajectory

Class ProfilePhase

java.lang.Object
org.chsrobotics.lib.trajectory.ProfilePhase
public class ProfilePhase extends Object
Holds constant-acceleration kinematic rates and time.

  • Field Summary

    Fields
    Modifier and Type
    Field
    Description
    final double
    acceleration
     
    final double
    initialVelocity
     
    final double
    position
     
    final double
    time
     

  • Constructor Summary

    Constructors
    Modifier
    Constructor
    Description
     
    ProfilePhase(double acceleration, double initialVelocity, double time)
    Constructs a ProfilePhase from a given acceleration, initial velocity, and time.
    protected
    ProfilePhase(double time, double position, double acceleration, double initialVelocity)
    Constructs a ProfilePhase.

  • Method Summary

    Modifier and Type
    Method
    Description
    boolean
    equals(Object other)
     
    int
    hashCode()
     
    String
    toString()
     

    Methods inherited from class java.lang.Object

    clone, finalize, getClass, notify, notifyAll, wait, wait, wait

  • Field Details

    • time

      public final double time

    • position

      public final double position

    • acceleration

      public final double acceleration

    • initialVelocity

      public final double initialVelocity

  • Constructor Details

    • ProfilePhase

      public ProfilePhase(double acceleration, double initialVelocity, double time)
      Constructs a ProfilePhase from a given acceleration, initial velocity, and time.
      Parameters:
      acceleration - The acceleration throughout this phase.
      initialVelocity - The velocity at the start of the phase.
      time - The duration of the phase.

    • ProfilePhase

      protected ProfilePhase(double time, double position, double acceleration, double initialVelocity)
      Constructs a ProfilePhase.
      Parameters:
      time - The duration of the phase.
      position - The displacement of the phase.
      acceleration - The acceleration of the phase (0 if coast phase).
      initialVelocity - The velocity at the beginning of a phase.

  • Method Details