Package com.asiankoala.koawalib.control.profile

Types

data class MotionConstraints( val maxV: Double, val accel: Double, rawDeccel: Double = accel)

Motion Constraints specify limits of motion of a system

data class MotionPeriod(val startState: MotionState, val dt: Double)

Asymmetric trapezoidal motion profile

data class MotionState @JvmOverloads constructor( val x: Double = 0.0, val v: Double = 0.0, val a: Double = 0.0)

Represents a motion at a snapshot in time of a system