public JointMotionProfileInputSet(MotionParameter parameters, double initialAcceleration, double initialVelocity, ConstraintsCollection constraints)
{
Parameters = parameters;
InitialAcceleration = initialAcceleration;
InitialVelocity = initialVelocity;
Constraints = constraints;
}
public static double GetBrakingDistance(this SimpleP2PCalculator calculator, double t)
{
calculator.GetStatus(t, out _, out var a, out var v, out _);
var motionParameter = new MotionParameter(calculator.JerkMax, -calculator.JerkMax, calculator.AccelerationMax, -calculator.AccelerationMax);
var rampResult = ExtendedP2PCalculator.Calculate(a, v, 0, motionParameter);
return(rampResult.Length);
}
public ClearanceHandlingMotionProfile(TimeSpan created, IEnumerable <IP2PDirectedEdge> edges, MotionParameter parameters, double vMax, ILogger logger)
{
Created = created;
_edges = edges;
_parameters = parameters;
_vMax = vMax;
_logger = logger;
_originalConstraints = GetConstraintsFrom(0);
}
public ClearanceHandlingMotionProfileTests()
{
const int numNodes = 8;
_map = new Map();
for (int i = 0; i < numNodes; i++)
{
_map.AddNodeAt(i * 1000, 0, 0);
if (i > 0)
{
_map.Connect(i, i + 1);
}
}
_edges = new List <DirectedEdge>();
for (int i = 1; i < numNodes; i++)
{
_edges.Add(new DirectedEdge(_map.GetEdge(i)));
}
_parameter = new MotionParameter(2000, -2000, 500, -500);
}
public JointMotionProfile(MotionParameter parameters, ConstraintsCollection constraints)
: this(parameters, _defaultInitialAcceleration, _defaultInitialVelocity, constraints)
{
}
public JointMotionProfile(MotionParameter parameters, VelocityConstraint constraint, params VelocityConstraint[] constraints)
: this(parameters, _defaultInitialAcceleration, _defaultInitialVelocity, new List <VelocityConstraint>() { constraint }.Concat(constraints))
{
}
public JointMotionProfile(MotionParameter parameters, IEnumerable <VelocityConstraint> constraints)
: this(parameters, _defaultInitialAcceleration, _defaultInitialVelocity, new ConstraintsCollection(constraints))
{
}
public JointMotionProfile(MotionParameter parameters, double initialAcceleration, double initialVelocity, ConstraintsCollection constraints)
: this(new JointMotionProfileInputSet(parameters, initialAcceleration, initialVelocity, constraints))
{
}
