A library to compute S-Curve trajectories. It can be used to generate motion profiles for robotics.
An S-Curve is a trajectory which is constrained to maximum jerk, acceleration and velocity. An S-Curve consists of 7 phases: * constant maximum jerk until the desired acceleration is reached * constant maximum acceleration phase * constant minimum jerk until the desired velocity is reached with an acceleration of zero * constant velocity phase * constant minimum jerk until the minimum acceleration is reached * constant minimum acceleration phase * constant maximum jerk until the acceleration is zero and the desired position and end velocity is reached
In the picture below you can see an S-Curve Profile which goes from Position 0 to position 10 within 5.5 seconds with a start and end velocity of 0
, a maximum jerk of 3, a maximum acceleration of 2 and a maximum velocity of 3.
rust
use s_curve::*;
let constraints = SCurveConstraints {
max_jerk: 3.,
max_acceleration: 2.0,
max_velocity: 3.};
let start_conditions = SCurveStartConditions {
q0: 0., // start position
q1: 10., // end position
v0: 0., // start velocity
v1: 0. // end velocity
};
let input = SCurveInput{constraints, start_conditions};
let (params,s_curve) = s_curve_generator( & input,Derivative::Velocity);
for i in 0..101 {
println!("{}", s_curve(i as f64 * params.time_intervals.total_duration() / 100.));
}
Copyright (c) 2020 Marco Boneberger Licensed under either of Apache License, Version 2.0 or MIT license at your option.