AngularMotionProfile#

class m4opt.dynamics.AngularMotionProfile(max_angular_velocity, max_angular_acceleration, max_angular_jerk=<Quantity inf rad / s3>, settling_time=<Quantity 0. s>)[source] [edit on github]#

Bases: object

Angular motion profile model.

This is a model of a general S-curve motion profile with optional limits on angular velocity, acceleration, and jerk. The time is solved using a general third-order point-to-point motion profile.

Attributes Summary

`max_angular_acceleration`	Maximum angular acceleration.
`max_angular_jerk`	Maximum angular jerk.
`max_angular_velocity`	Maximum angular rate.
`settling_time`	Time to settle to rest after a slew.

Attributes Documentation

Parameters:

max_angular_velocity (Annotated[Quantity, PhysicalType({'angular frequency', 'angular speed', 'angular velocity'})])
max_angular_acceleration (Annotated[Quantity, PhysicalType('angular acceleration')])
max_angular_jerk (Annotated[Quantity, PhysicalType({'angular jerk', 'angular jolt'})])
settling_time (Annotated[Quantity, PhysicalType('time')])

max_angular_acceleration: Annotated[Quantity, PhysicalType('angular acceleration')] = <dataclasses._MISSING_TYPE object>#: Maximum angular acceleration.

max_angular_jerk: Quantity, PhysicalType({'angular jerk', 'angular jolt'})] = <Quantity inf rad / s3>#: Maximum angular jerk.

max_angular_velocity: Quantity, PhysicalType({'angular frequency', 'angular speed', 'angular velocity'})] = <dataclasses._MISSING_TYPE object>#: Maximum angular rate.

settling_time: Annotated[Quantity, PhysicalType('time')] = <Quantity 0. s>#: Time to settle to rest after a slew.