Struct MotionModel 

pub struct MotionModel {
    pub max_ramp_us: f64,
    pub max_jerk_um_per_us3: f64,
    pub max_accel_um_per_us2: f64,
}

Constant-jerk motion/timing model for AOD moves.

Holds the three timing constants and computes move durations from a waypoint path. Defaults to the FLAIR constants; construct with MotionModel::new to override them.

Fields

max_ramp_us: f64

Maximum amplitude ramp rate (amplitude units per µs). Must be > 0.

max_jerk_um_per_us3: f64

Maximum jerk in µm/µs³. Must be > 0.

max_accel_um_per_us2: f64

Maximum acceleration in µm/µs². Must be > 0.

Implementations

impl MotionModel

pub fn new( max_ramp_us: f64, max_jerk_um_per_us3: f64, max_accel_um_per_us2: f64, ) -> Option<Self>

Construct a motion model from explicit constants.

All three constants must be positive and finite. max_ramp_us and max_jerk_um_per_us3 appear as divisors; a non-positive max_accel_um_per_us2 drives t1 to zero (or negative), which makes the trajectory solver return NaN/negative durations. Returns None for any non-physical constant.

pub fn flair() -> Self

The FLAIR constant-jerk motion model (alias for Default).

pub fn const_jerk_min_duration_us(&self, max_dist_um: f64) -> f64

Minimum duration (µs) for a constant-jerk move over max_dist_um.

Solves the constant-jerk trajectory: below the acceleration cap the move is jerk-limited (four jerk phases); above it, two extra constant-acceleration phases are inserted.

The sign of max_dist_um is ignored (the absolute distance is used); a distance below ~1e-8 µm is treated as no move and returns 0.0.

pub fn lane_duration_us( &self, waypoints: &[[f64; 2]], amplitude_delta: f64, ) -> f64

Compute lane duration (µs) from a waypoint path: ramp + Σ per-segment const-jerk duration + ramp.

The pick and drop ramps are always charged, so a path with no motion segments (fewer than two waypoints) still costs 2 * ramp rather than collapsing to a free move. amplitude_delta scales the ramp time; its sign is ignored.

Trait Implementations

impl Clone for MotionModel

fn clone(&self) -> MotionModel

Returns a duplicate of the value.

fn clone_from(&mut self, source: &Self)

Performs copy-assignment from source.

impl Copy for MotionModel

impl Debug for MotionModel

fn fmt(&self, f: &mut Formatter<'_>) -> Result

Formats the value using the given formatter.

impl Default for MotionModel

fn default() -> Self

The FLAIR constant-jerk motion model.

impl PartialEq for MotionModel

fn eq(&self, other: &MotionModel) -> bool

Tests for self and other values to be equal, and is used by ==.

fn ne(&self, other: &Rhs) -> bool

Tests for !=. The default implementation is almost always sufficient, and should not be overridden without very good reason.

impl StructuralPartialEq for MotionModel