NextControl/dev.nextftc.control.model/MotionState

MotionState

data class MotionState> @JvmOverloads constructor(val position: Measure, val velocity: Per<U, TimeUnit> = position.unit.per(Seconds).of(0.0), val acceleration: Per<PerUnit<U, TimeUnit>, TimeUnit> = position.unit.per( Seconds, ).per(Seconds).of(0.0))(source)

The kinematic state of a system, parameterized by position unit type.

Represents the complete motion state of a system at a point in time, including position, velocity, and acceleration. Velocity is derived as position per time, and acceleration as velocity per time.

This class is generic over the position unit type, allowing it to be used for both linear motion (with dev.nextftc.units.unittypes.DistanceUnit) and angular motion (with dev.nextftc.units.unittypes.AngleUnit).

Type Parameters

The position unit type (e.g., dev.nextftc.units.unittypes.DistanceUnit for linear motion, dev.nextftc.units.unittypes.AngleUnit for angular motion)

Constructors

MotionState

@JvmOverloads

constructor(position: Measure, velocity: Per<U, TimeUnit> = position.unit.per(Seconds).of(0.0), acceleration: Per<PerUnit<U, TimeUnit>, TimeUnit> = position.unit.per( Seconds, ).per(Seconds).of(0.0))

@JvmOverloads

constructor(unit: U, position: Double = 0.0, velocity: Double = 0.0, acceleration: Double = 0.0)

Convenience constructor that accepts raw numeric magnitudes and a unit, converting them into strongly-typed Measure and Per values used by this class.

Properties

acceleration

val acceleration: Per<PerUnit<U, TimeUnit>, TimeUnit>

position

val position: Measure

velocity

val velocity: Per<U, TimeUnit>

Functions

copy

fun copy(position: Double = this.position.magnitude, velocity: Double = this.velocity.magnitude, acceleration: Double = this.acceleration.magnitude): MotionState

Creates a copy of this motion state with optionally modified values using raw doubles.

div