trajectory

Documentation

Index

• type Config
• type MotionProfile
  • func GenerateProfile(config Config, initialState State, goal ProfileGoal) MotionProfile
  • func (this *MotionProfile) AddState(state State)
  • func (this *MotionProfile) Length() int
  • func (this *MotionProfile) Plot()
  • func (this *MotionProfile) String() string
• type ProfileGoal
• type State
  • func (this *State) String() string

Types

type Config

type Config struct {
	Dt     float64
	MaxVel float64
	Acc    float64
}

type MotionProfile

type MotionProfile struct {
	// contains filtered or unexported fields
}

func GenerateProfile

func GenerateProfile(config Config, initialState State, goal ProfileGoal) MotionProfile

func (*MotionProfile) AddState

func (this *MotionProfile) AddState(state State)

func (*MotionProfile) Length

func (this *MotionProfile) Length() int

func (*MotionProfile) Plot

func (this *MotionProfile) Plot()

func (*MotionProfile) String

func (this *MotionProfile) String() string

type ProfileGoal

type ProfileGoal struct {
	Pos float64
	Vel float64
}

type State

type State struct {
	Pos  float64
	Vel  float64
	Acc  float64
	Time float64
}

func (*State) String

func (this *State) String() string