dsmc 0.2.2

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

use num_traits::{Float, FloatConst};

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

/// Modified sine profile: sinusoidal acceleration with a low peak velocity, a balance of the peak
/// velocity and the peak acceleration.
#[derive(Clone, Copy, Debug)]
pub struct ModifiedSine;

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

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

        // Maximum acceleration
        let am = distance * (pi * pi) / (T::one() + FloatConst::FRAC_PI_4());

        let ts1 = t1 - t0;
        let ts2 = t2 - t1;
        let ts3 = t3 - t2;

        let c1 = ts1 * FloatConst::FRAC_2_PI();
        let c2 = ts2 * FloatConst::FRAC_1_PI();
        let c3 = ts3 * FloatConst::FRAC_2_PI();

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

        let v2 = v1;
        let s2 = distance - s1;

        let s3 = 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 * c2 * 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: c3 * c3 * am * ((tl / c3).cos() - T::one()) + v2 * tl + s2,
                v: - c3 * am * (tl / c3).sin() + v2,
                a: - am * (tl / c3).cos(),
            }
        }
        else {
            TrajectoryProfile { s: s3, v: T::zero(), a: T::zero() }
        }
    }
}