path-generator/lib/trajectorys/trajectory.js

A easy motion profile path generator

"use strict";
Object.defineProperty(exports, "__esModule", { value: true });
var errors_1 = require("../motionProfiling/errors");
var segment_1 = require("../motionProfiling/segment");
var Trajectory = /** @class */ (function () {
    function Trajectory(waypoints, pathConfig) {
        this._setpoints = [];
        this._segments = [];
        this._coords = [];
        this.setpointTime = 0;
        this._distance = 0;
        this.pathConfig = pathConfig;
        this.waypoints = waypoints;
        this.checkPathConfig();
    }
    Trajectory.prototype.generateTrajectory = function () {
        for (var index = 0; index < this.waypoints.length - 1; index++) {
            try {
                this.generate(index);
            }
            catch (error) {
                if (error instanceof errors_1.PathGeneratorError)
                    error.addErrorPosition(index);
                throw error;
            }
        }
    };
    Trajectory.prototype.checkPathConfig = function () {
        if (this.pathConfig.acc === 0)
            throw new errors_1.PathConfigValueEqualToZero('acc');
        else if (this.pathConfig.vMax === 0)
            throw new errors_1.PathConfigValueEqualToZero('vMax');
        else if (this.pathConfig.robotLoopTime === 0)
            throw new errors_1.PathConfigValueEqualToZero('robot loop time');
    };
    Trajectory.prototype.generateSegments = function (object) {
        var speeding2vMax = new segment_1.default(object.V0, object.vMax, object.acc);
        var slowing2vEnd = new segment_1.default(object.vMax, object.vEnd, object.acc);
        var speedingAndSlowingDistance = speeding2vMax.distance + slowing2vEnd.distance;
        var segments = [];
        segments.push(speeding2vMax);
        segments.push(new segment_1.default(object.vMax, object.distance - speedingAndSlowingDistance));
        segments.push(slowing2vEnd);
        return segments;
    };
    Trajectory.prototype.generateSetpoints = function (segments, startPosition) {
        var setpoints = [];
        var lastPos = startPosition;
        var robotLoopTime = this.pathConfig.robotLoopTime;
        for (var i = 0; i < segments.length; i++) {
            if (segments[i].distance === 0)
                continue;
            for (; this.setpointTime <= segments[i].totalTime; this.setpointTime += robotLoopTime) {
                var setpoint = segments[i].getSetpoint(this.setpointTime, lastPos);
                setpoints.push(setpoint);
            }
            lastPos += segments[i].distance;
            this.setpointTime -= segments[i].totalTime;
        }
        return setpoints;
    };
    Object.defineProperty(Trajectory.prototype, "totalTime", {
        get: function () {
            return this.setpoints.length * this.pathConfig.robotLoopTime;
        },
        enumerable: false,
        configurable: true
    });
    Object.defineProperty(Trajectory.prototype, "setpoints", {
        get: function () {
            return this._setpoints;
        },
        enumerable: false,
        configurable: true
    });
    Object.defineProperty(Trajectory.prototype, "coords", {
        get: function () {
            return this._coords;
        },
        enumerable: false,
        configurable: true
    });
    Object.defineProperty(Trajectory.prototype, "distance", {
        get: function () {
            return this._distance;
        },
        enumerable: false,
        configurable: true
    });
    return Trajectory;
}());
exports.default = Trajectory;