dsmc 0.17.0

Digitalservo Motion Control Library
Documentation 
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//! Modified constant velocity profile.

use num_traits::{Float, FloatConst};

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

/// Modified constant velocity profile: sinusoidal acceleration and deceleration around a
/// constant-velocity section. `constant_velocity_percent` [%] of the move is at constant velocity.
#[derive(Clone, Copy, Debug)]
pub struct ModifiedConstantVelocity {
    /// Share of the move at constant velocity \[%\].
    pub constant_velocity_percent: f64,
}

impl<T: Float + FloatConst> Trajectory<T> for ModifiedConstantVelocity {
    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 proportion = T::from(self.constant_velocity_percent).unwrap() / T::from(100.0).unwrap();

        let t0 = T::zero();
        let t1 = (T::one() - proportion) / T::from(8.0).unwrap();
        let t2 = t1 * T::from(4.0).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 ts4 = t4 - t3;
        let ts5 = t5 - t4;

        let am = distance * (pi * pi) / (T::from(8.0).unwrap() * t1 * (((T::from(8.0).unwrap() - T::from(6.0).unwrap() * pi) * t1) + pi));

        let c1 = ts1 * FloatConst::FRAC_2_PI();
        let c2 = ts2 * FloatConst::FRAC_2_PI();
        let c4 = ts4 * FloatConst::FRAC_2_PI();
        let c5 = ts5 * FloatConst::FRAC_2_PI();

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

        let v2 = c2 * am + v1;
        let s2 = (c2).powi(2) * am + v1 * ts2 + s1;

        let v3 = v2;
        let s3 = v2 * ts3 + 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.powi(2) * am * (T::one() - (tl / c2).cos()) + v1 * tl + s1,
                v: c2 * am * (tl / c2).sin() + v1,
                a: am * (tl / c2).cos(),
            }
        }
        else if t < t3 {
            let tl = t - t2;
            TrajectoryProfile {
                s: v2 * tl + s2,
                v: v2,
                a: T::zero(),
            }
        }
        else if t < t4 {
            let tl = t - t3;
            TrajectoryProfile {
                s: c4 * am * (c4 * (tl / c4).sin() - tl) + v3 * tl + s3,
                v: c4 * am * ((tl / c4).cos() - T::one()) + v3,
                a: - am * (tl / c4).sin(),
            }
        }
        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(),
            }
        }
    }
}