libstp::motion::TrapezoidalProfile Class Reference

#include <trapezoidal_profile.hpp>

Classes
struct	Constraints
struct	State

Public Member Functions
	TrapezoidalProfile (const State &initial, double target, const Constraints &constraints)
State	getSetpoint (double elapsed_time) const
bool	isComplete (double elapsed_time) const
double	getTotalTime () const

Static Public Member Functions
static State	calculate (double dt, const State &current, const State &goal, const Constraints &constraints)

Detailed Description

Generates a trapezoidal velocity profile for smooth motion.

The profile has three phases:

1. Acceleration: ramp up from 0 to max_velocity
2. Cruise: maintain max_velocity
3. Deceleration: ramp down from max_velocity to 0

For short distances, the profile may be triangular (no cruise phase). Supports asymmetric acceleration/deceleration rates.

Definition at line 20 of file trapezoidal_profile.hpp.

Constructor & Destructor Documentation

TrapezoidalProfile()

libstp::motion::TrapezoidalProfile::TrapezoidalProfile ( const State & initial, double target, const Constraints & constraints )

inline

Initialize the profile.

Parameters

initial	Initial state (usually {0, 0})
target	Target position
constraints	Velocity and acceleration limits

Definition at line 61 of file trapezoidal_profile.hpp.

Member Function Documentation

calculate()

State libstp::motion::TrapezoidalProfile::calculate ( double dt, const State & current, const State & goal, const Constraints & constraints )

inlinestatic

Compute the next setpoint along a trapezoidal trajectory from current toward goal.

Analytical approach (ported from FRC WPILib TrapezoidProfile::Calculate): each call recomputes the full trapezoidal profile from current state to goal, then evaluates it at exactly t=dt. This is analytically exact – no discretisation overshoot regardless of timestep.

Supports asymmetric acceleration/deceleration rates.

Parameters

dt	Time step (seconds)
current	Current profiled state (position, velocity)
goal	Desired goal state (position, velocity)
constraints	Velocity and acceleration limits

Returns

The exact setpoint state after dt

Definition at line 139 of file trapezoidal_profile.hpp.

getSetpoint()

State libstp::motion::TrapezoidalProfile::getSetpoint ( double elapsed_time ) const

inline

Get the setpoint at a given time.

Parameters

elapsed_time

Time since profile started (seconds)

Returns

Desired state at this time

Definition at line 82 of file trapezoidal_profile.hpp.

getTotalTime()

double libstp::motion::TrapezoidalProfile::getTotalTime ( ) const

inline

Get the total time for the profile.

Definition at line 242 of file trapezoidal_profile.hpp.

isComplete()

bool libstp::motion::TrapezoidalProfile::isComplete ( double elapsed_time ) const

inline

Check if the profile is complete.

Definition at line 234 of file trapezoidal_profile.hpp.

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The documentation for this class was generated from the following file:

• /home/runner/work/raccoon-lib/raccoon-lib/modules/libstp-motion/include/motion/trapezoidal_profile.hpp