org.openpnp.model

Class Motion

java.lang.Object

org.openpnp.model.Motion

public class Motion
extends java.lang.Object

The Motion represents one segment in a motion sequence. It contains the start and end location along with the motion profile i.e. the jerk/acceleration/velocity over time. If the Motion is coordinated, it will move along a straight line between start and end. Otherwise it might sway from this line due to different axis velocity/acceleration/jerk limits and/or due to entry/exit momentum.

Nested Class Summary

Nested Classes

Modifier and Type	Class and Description
static class	Motion.MotionOption Contains all possible options for a motion.
class	Motion.MoveToCommand

Constructor Summary

Constructors

Constructor and Description
Motion(HeadMountable headMountable, AxesLocation location0, AxesLocation location1, double nominalSpeed, double feedrateOverride, double accelerationOverride, double jerkOverride, int options)
Motion(HeadMountable headMountable, AxesLocation location0, AxesLocation location1, double nominalSpeed, int options)
Motion(HeadMountable headMountable, AxesLocation location0, AxesLocation location1, double nominalSpeed, Motion.MotionOption... options)
Motion(Motion motion)

Method Summary

Modifier and Type	Method and Description
void	clearOption(Motion.MotionOption option)
protected void	computeLimitsAndProfile(double feedrateOverride, double accelerationOverride, double jerkOverride) Compute the limits (maximum axis velocity, acceleration, jerk) and the initial raw axis motion profile.
java.lang.Double	getAccelerationPerSecond2(Driver driver)
MotionProfile[]	getAxesProfiles()
java.lang.Integer	getAxisIndex(ControllerAxis axis)
double	getEffectiveSpeed()
double	getEuclideanDistance()
java.lang.Double	getFeedRatePerMinute(Driver driver)
java.lang.Double	getFeedRatePerSecond(Driver driver)
HeadMountable	getHeadMountable()
java.lang.Double	getJerkPerSecond3(Driver driver)
AxesLocation	getLocation0()
AxesLocation	getLocation1()
AxesLocation	getMomentaryAcceleration(double time)
AxesLocation	getMomentaryJerk(double time)
AxesLocation	getMomentaryLocation(double time)
AxesLocation	getMomentaryVelocity(double time)
AxesLocation	getMovingAxesTargetLocation(Driver driver) Get the target location of this Motion with only the moved axes of the given driver in it.
double	getNominalSpeed()
int	getOptions()
double	getPlannedTime0()
double	getPlannedTime1()
Triplet<java.lang.Double,java.lang.Double,java.lang.Double>	getRate(Driver driver, java.util.function.BiFunction<ControllerAxis,MotionProfile,java.lang.Double> f) Get the rate function of a motion from the planned profile.
java.lang.Double	getRS274NGCRate(Driver driver, java.util.function.BiFunction<ControllerAxis,MotionProfile,java.lang.Double> f, java.lang.Double defaultRate) Get the rate according to NIST RS274NGC Interpreter - Version 3, Section 2.1.2.5 (p.
double	getTime()
boolean	hasOption(Motion.MotionOption option)
java.util.List<Motion.MoveToCommand>	interpolatedMoveToCommands(Driver driver, boolean retiming) Interpolate the Motion using the given parameters and return a list of moveToCommands with waypoints and envelope feed-rate and acceleration limits as needed.
boolean	isEmpty()
protected java.util.List<Motion.MoveToCommand>	moderatedMoveTo(Driver driver) Create a constant acceleration move out of a move planned with 3rd order/jerk control.
static int	optionFlags(Motion.MotionOption... options)
void	setOption(Motion.MotionOption option)
void	setPlannedTime1(double plannedTime1)
java.util.List<Motion.MoveToCommand>	singleMoveTo(Driver driver) Creates a single move out of the motion.
java.lang.String	toString()

Methods inherited from class java.lang.Object

clone, equals, finalize, getClass, hashCode, notify, notifyAll, wait, wait, wait

Constructor Detail

Motion

public Motion(HeadMountable headMountable,
              AxesLocation location0,
              AxesLocation location1,
              double nominalSpeed,
              double feedrateOverride,
              double accelerationOverride,
              double jerkOverride,
              int options)

Motion

public Motion(HeadMountable headMountable,
              AxesLocation location0,
              AxesLocation location1,
              double nominalSpeed,
              int options)

Motion

public Motion(HeadMountable headMountable,
              AxesLocation location0,
              AxesLocation location1,
              double nominalSpeed,
              Motion.MotionOption... options)

Motion

public Motion(Motion motion)

Method Detail

optionFlags

public static int optionFlags(Motion.MotionOption... options)

getHeadMountable

public HeadMountable getHeadMountable()

hasOption

public boolean hasOption(Motion.MotionOption option)

setOption

public void setOption(Motion.MotionOption option)

clearOption

public void clearOption(Motion.MotionOption option)

getOptions

public int getOptions()

getTime

public double getTime()

getPlannedTime0

public double getPlannedTime0()

getPlannedTime1

public double getPlannedTime1()

setPlannedTime1

public void setPlannedTime1(double plannedTime1)

toString

public java.lang.String toString()

Overrides:

toString in class java.lang.Object

getNominalSpeed

public double getNominalSpeed()

getEffectiveSpeed

public double getEffectiveSpeed()

isEmpty

public boolean isEmpty()

computeLimitsAndProfile

protected void computeLimitsAndProfile(double feedrateOverride,
                                       double accelerationOverride,
                                       double jerkOverride)

Compute the limits (maximum axis velocity, acceleration, jerk) and the initial raw axis motion profile.

Parameters:

jerkOverride -

accelerationOverride -

feedrateOverride -

getLocation0

public AxesLocation getLocation0()

getLocation1

public AxesLocation getLocation1()

getAxesProfiles

public MotionProfile[] getAxesProfiles()

getAxisIndex

public java.lang.Integer getAxisIndex(ControllerAxis axis)

getEuclideanDistance

public double getEuclideanDistance()

getMomentaryLocation

public AxesLocation getMomentaryLocation(double time)

getMomentaryVelocity

public AxesLocation getMomentaryVelocity(double time)

getMomentaryAcceleration

public AxesLocation getMomentaryAcceleration(double time)

getMomentaryJerk

public AxesLocation getMomentaryJerk(double time)

getMovingAxesTargetLocation

public AxesLocation getMovingAxesTargetLocation(Driver driver)

Get the target location of this Motion with only the moved axes of the given driver in it.

Parameters:

driver -

Returns:

getRate

public Triplet<java.lang.Double,java.lang.Double,java.lang.Double> getRate(Driver driver,
                                                                           java.util.function.BiFunction<ControllerAxis,MotionProfile,java.lang.Double> f)

Get the rate function of a motion from the planned profile.

Parameters:

driver - The driver for which the rate is calculated i.e. for the axes mapped to it.

f - The function to be applied to the motion profile to obtain the rate.

Returns:

a Triplet with Euclidean rate.

getRS274NGCRate

public java.lang.Double getRS274NGCRate(Driver driver,
                                        java.util.function.BiFunction<ControllerAxis,MotionProfile,java.lang.Double> f,
                                        java.lang.Double defaultRate)

Get the rate according to NIST RS274NGC Interpreter - Version 3, Section 2.1.2.5 (p. 7). The rate is to be interpreted over the Euclidean linear axis distance of a move and in the absence of any linear axes, over the Euclidean angular distance of the move.

Parameters:

driver - The driver for which the rate is calculated i.e. for the axes mapped to it.

f - The function to be applied to the motion profile to obtain the rate.

defaultRate -

Returns:

The rate in driver units per second^x

See Also:

https://tsapps.nist.gov/publication/get_pdf.cfm?pub_id=823374

getFeedRatePerSecond

public java.lang.Double getFeedRatePerSecond(Driver driver)

Parameters:

driver - The driver for which the rate is calculated i.e. for the axes mapped to it.

Returns:

The driver specific feed-rate according to NIST RS274NGC Interpreter - Version 3, Section 2.1.2.5 (p. 7) in driver units per second.

getFeedRatePerMinute

public java.lang.Double getFeedRatePerMinute(Driver driver)

Parameters:

driver - The driver for which the rate is calculated i.e. for the axes mapped to it.

Returns:

The driver specific feed-rate according to NIST RS274NGC Interpreter - Version 3, Section 2.1.2.5 (p. 7) in driver units per minute.

getAccelerationPerSecond2

public java.lang.Double getAccelerationPerSecond2(Driver driver)

Parameters:

driver - The driver for which the rate is calculated i.e. for the axes mapped to it.

Returns:

The driver specific acceleration limit in driver units per second squared.

getJerkPerSecond3

public java.lang.Double getJerkPerSecond3(Driver driver)

Parameters:

driver - The driver for which the rate is calculated i.e. for the axes mapped to it.

Returns:

The driver specific jerk limit in driver units per second cubed.

interpolatedMoveToCommands

public java.util.List<Motion.MoveToCommand> interpolatedMoveToCommands(Driver driver,
                                                                       boolean retiming)
                                                                throws java.lang.Exception

Interpolate the Motion using the given parameters and return a list of moveToCommands with waypoints and envelope feed-rate and acceleration limits as needed.

Parameters:

driver -

Returns:

Throws:

java.lang.Exception

moderatedMoveTo

protected java.util.List<Motion.MoveToCommand> moderatedMoveTo(Driver driver)

Create a constant acceleration move out of a move planned with 3rd order/jerk control. The move should take the same amount of time i.e. have similar average acceleration and peak feed-rates. This creates more defensive short moves, while allowing quicker long moves. In comparison with fixed constant acceleration moves, this will already reduce vibrations a bit. Because of equal move duration, these moves can also be used to compare constant acceleration and jerk controlled moves in a fair way.

Parameters:

driver -

time -

Returns:

singleMoveTo

public java.util.List<Motion.MoveToCommand> singleMoveTo(Driver driver)

Creates a single move out of the motion. It just takes the nominal profile velocity, acceleration and jerk limits with no regard to how the move will be executed in the controller, i.e. if the move was planned with jerk control and is then executed on a constant acceleration controller, it will not take the predicted amount of time.

Parameters:

driver -

Returns: