dsmc 0.16.0

Digitalservo Motion Control Library
Documentation 
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//! Modified trapezoid profile.

use num_traits::{Float, FloatConst};

use crate::trajectory::{Trajectory, TrajectoryProfile};

/// Modified trapezoid profile: trapezoidal acceleration with sinusoidal ramps, giving a low peak acceleration.
#[derive(Clone, Copy, Debug)]
pub struct ModifiedTrapezoid;

impl<T: Float + FloatConst> Trajectory<T> for ModifiedTrapezoid {
    fn profile(&self, distance: T, x: T) -> TrajectoryProfile<T> {
        if x < T::zero() {
            return TrajectoryProfile::rest(T::zero());
        }
        let t = x;
        let pi = FloatConst::PI();

        let t0 = T::zero();
        let t1 = T::one() / T::from(8.0).unwrap();
        let t2 = T::from(3.0).unwrap() / T::from(8.0).unwrap();
        let t3 = T::one() - t2;
        let t4 = T::one() - t1;
        let t5 = T::one();

        let ts1 = t1 - t0;
        let ts2 = t2 - t1;
        let ts3 = t3 - t2;
        let ts5 = t5 - t4;

        let am = distance * (T::from(8.0).unwrap() * pi) / (pi + T::from(2.0).unwrap());

        let c1 = ts1 * FloatConst::FRAC_2_PI();
        let c2 = am * T::from(0.5).unwrap();
        let c3 = ts3 / pi;
        let c4 = am * T::from(0.5).unwrap();
        let c5 = ts5 * FloatConst::FRAC_2_PI();

        let v1 = c1 * am;
        let s1 = c1 * am * (t1 - c1);

        let v2 = am * ts2 + v1;
        let s2 = c2 * ts2 * ts2 + v1 * ts2 + s1;

        let v3 = v2;
        let s3 = distance - s2;

        let v4 = v1;
        let s4 = distance - s1;

        let s5 = distance;

        if t < t1 {
            let tl = t - t0;
            TrajectoryProfile {
                s: c1 * am * (tl - c1 * (tl / c1).sin()),
                v: c1 * am * (T::one() - (tl / c1).cos()),
                a: am * (tl / c1).sin(),
            }
        }
        else if t < t2 {
            let tl = t - t1;
            TrajectoryProfile {
                s: c2 * tl * tl + v1 * tl + s1,
                v: am * tl + v1,
                a: am,
            }
        }
        else if t < t3 {
            let tl = t - t2;
            TrajectoryProfile {
                s: c3 * c3 * am * (T::one() - (tl / c3).cos()) + v2 * tl + s2,
                v: c3 * am * (tl / c3).sin() + v2,
                a: am * (tl / c3).cos(),
            }
        }
        else if t < t4 {
            let tl = t - t3;
            TrajectoryProfile {
                s: -c4 * tl * tl + v3 * tl + s3,
                v: - am * tl + v3,
                a: - am,
            }
        }
        else if t < t5 {
            let tl = t - t4;
            TrajectoryProfile {
                s: c5.powi(2) * am * ((tl/ c5).cos() - T::one()) + v4 * tl + s4,
                v: -c5 * am * (tl/ c5).sin() + v4,
                a: - am * (tl/ c5).cos(),
            }
        }
        else {
            TrajectoryProfile {
                s: s5,
                v: T::zero(),
                a: T::zero(),
            }
        }
    }
}