Struct MotionProfile 

pub struct MotionProfile { /* private fields */ }

A motion profile for getting from one state to another.

Implementations

impl MotionProfile

pub fn new( start_state: State, end_state: State, max_vel: Quantity, max_acc: Quantity, ) -> MotionProfile

Constructor for MotionProfile using start and end states.

pub fn get_mode(&self, t: Time) -> Option<PositionDerivative>

Get the intended PositionDerivative at a given time.

pub fn get_piece(&self, t: Time) -> MotionProfilePiece

Get the MotionProfilePiece at a given time.

pub fn get_acceleration(&self, t: Time) -> Option<Quantity>

Get the intended acceleration at a given time.

pub fn get_velocity(&self, t: Time) -> Option<Quantity>

Get the intended velocity at a given time.

pub fn get_position(&self, t: Time) -> Option<Quantity>

Get the intended position at a given time.

Trait Implementations

impl Clone for MotionProfile

fn clone(&self) -> MotionProfile

Returns a duplicate of the value.

fn clone_from(&mut self, source: &Self)

Performs copy-assignment from source.

impl Debug for MotionProfile

fn fmt(&self, f: &mut Formatter<'_>) -> Result

Formats the value using the given formatter.

impl<E: Copy + Debug> History<Command, E> for MotionProfile

fn get(&self, time: Time) -> Option<Datum<Command>>

Get a value at a time.

impl PartialEq for MotionProfile

fn eq(&self, other: &MotionProfile) -> bool

Tests for self and other values to be equal, and is used by ==.

fn ne(&self, other: &Rhs) -> bool

Tests for !=. The default implementation is almost always sufficient, and should not be overridden without very good reason.

impl<E: Copy + Debug> Updatable<E> for MotionProfile

fn update(&mut self) -> NothingOrError<E>

As this trait is very generic, exactly what this does will be very dependent on the implementor.

impl StructuralPartialEq for MotionProfile