Package org.chsrobotics.lib.trajectory

package org.chsrobotics.lib.trajectory

Classes

Class	Description
AsymmetricTrapezoidProfile	A MotionProfile that allows for smooth motion between two states, generated with acceleration, velocity, and deceleration constraints.
AsymmetricTrapezoidProfile.Constraints	A data class to hold the maximum allowable rates for the output of a AsymmetricTrapezoidProfile.
MotionProfile	A group of ProfilePhases that represents an arbitrary trajectory of compound accelerations, coasts, and decelerations.
MotionProfile.State	Holds the velocity and position states of a MotionProfile at a time in its span.
ProfilePhase	Holds constant-acceleration kinematic rates and time.
TrapezoidProfile	Represents a special case of an AsymmetricTrapezoidProfile where the maxAcceleration and maxDeceleration constraints are the same.
TrapezoidProfile.Constraints	Data class to hold the maximum allowed rates for the output of a TrapezoidProfile.