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MotionSegment.java
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MotionSegment.java
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package com.team254.lib.motion;
import static com.team254.lib.util.Util.epsilonEquals;
import static com.team254.lib.motion.MotionUtil.kEpsilon;
/**
* A MotionSegment is a movement from a start MotionState to an end MotionState with a constant acceleration.
*/
public class MotionSegment {
protected MotionState mStart;
protected MotionState mEnd;
public MotionSegment(MotionState start, MotionState end) {
mStart = start;
mEnd = end;
}
/**
* Verifies that:
* <p>
* 1. All segments have a constant acceleration.
* <p>
* 2. All segments have monotonic position (sign of velocity doesn't change).
* <p>
* 3. The time, position, velocity, and acceleration of the profile are consistent.
*/
public boolean isValid() {
if (!epsilonEquals(start().acc(), end().acc(), kEpsilon)) {
// Acceleration is not constant within the segment.
System.err.println(
"Segment acceleration not constant! Start acc: " + start().acc() + ", End acc: " + end().acc());
return false;
}
if (Math.signum(start().vel()) * Math.signum(end().vel()) < 0.0 && !epsilonEquals(start().vel(), 0.0, kEpsilon)
&& !epsilonEquals(end().vel(), 0.0, kEpsilon)) {
// Velocity direction reverses within the segment.
System.err.println("Segment velocity reverses! Start vel: " + start().vel() + ", End vel: " + end().vel());
return false;
}
if (!start().extrapolate(end().t()).equals(end())) {
// A single segment is not consistent.
if (start().t() == end().t() && Double.isInfinite(start().acc())) {
// One allowed exception: If acc is infinite and dt is zero.
return true;
}
System.err.println("Segment not consistent! Start: " + start() + ", End: " + end());
return false;
}
return true;
}
public boolean containsTime(double t) {
return t >= start().t() && t <= end().t();
}
public boolean containsPos(double pos) {
return pos >= start().pos() && pos <= end().pos() || pos <= start().pos() && pos >= end().pos();
}
public MotionState start() {
return mStart;
}
public void setStart(MotionState start) {
mStart = start;
}
public MotionState end() {
return mEnd;
}
public void setEnd(MotionState end) {
mEnd = end;
}
@Override
public String toString() {
return "Start: " + start() + ", End: " + end();
}
}