https://github.com/marcbone/s_curve

S-Curve trajectory generator written in rust
https://github.com/marcbone/s_curve

robotics robotics-algorithms s-curve scurve trajectory-generation

Last synced: 2 months ago
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S-Curve trajectory generator written in rust

• Host: GitHub
• URL: https://github.com/marcbone/s_curve
• Owner: marcbone
• License: apache-2.0
• Created: 2020-10-07T13:03:12.000Z (over 4 years ago)
• Default Branch: main
• Last Pushed: 2023-08-08T13:02:17.000Z (over 1 year ago)
• Last Synced: 2024-10-13T13:44:29.038Z (3 months ago)
• Topics: robotics, robotics-algorithms, s-curve, scurve, trajectory-generation
• Language: Rust
• Homepage:
• Size: 23.4 KB
• Stars: 58
• Watchers: 7
• Forks: 10
• Open Issues: 6
• Metadata Files:
  • Readme: README.md
  • Changelog: CHANGELOG.md
  • License: LICENSE-APACHE

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README

        
[![crates.io](https://img.shields.io/crates/v/s_curve.svg)](https://crates.io/crates/s_curve)

[![GitHub Workflow Status](https://img.shields.io/github/actions/workflow/status/marcbone/s_curve/rust.yml)](https://github.com/marcbone/s_curve/actions)

[![crates.io](https://img.shields.io/crates/l/s_curve.svg)](https://crates.io/crates/s_curve)

[![crates.io](https://img.shields.io/crates/d/s_curve.svg)](https://crates.io/crates/s_curve)

[![docs.rs](https://docs.rs/s_curve/badge.svg)](https://docs.rs/s_curve)

[![codecov](https://codecov.io/gh/marcbone/s_curve/branch/main/graph/badge.svg?token=9LB5SI9B1E)](https://codecov.io/gh/marcbone/s_curve)

A library to compute S-Curve trajectories. It can be used to generate motion profiles for robotics.

## What is an S-Curve?

An S-Curve is a trajectory which is constrained to maximum jerk, acceleration and velocity.

An S-Curve consists of 7 phases:

 * constant maximum jerk until the desired acceleration is reached

 * constant maximum acceleration phase

 * constant minimum jerk until the desired velocity is reached with an acceleration of zero

 * constant velocity phase

 * constant minimum jerk until the minimum acceleration is reached

 * constant minimum acceleration phase

 * constant maximum jerk until the acceleration is zero and the desired position and end velocity is reached

 

 In the picture below you can see an S-Curve Profile which goes from Position 0 to position 10 within 5.5 seconds with a start and end velocity of 0

, a maximum jerk of 3, a maximum acceleration of 2 and a maximum velocity of 3.

[![image](http://i.imgur.com/BQPhS8n.png)](http://i.imgur.com/BQPhS8n.png)

## Example

  ```rust

  use s_curve::*;

  let constraints = SCurveConstraints {

              max_jerk: 3.,

              max_acceleration: 2.0,

              max_velocity: 3.};

  let  start_conditions = SCurveStartConditions {

      q0: 0., // start position

      q1: 10., // end position

      v0: 0., // start velocity

      v1: 0. // end velocity

  };

let input  =  SCurveInput{constraints, start_conditions};

let (params,s_curve) = s_curve_generator( & input,Derivative::Velocity);

for i in 0..101 {

      println!("{}", s_curve(i as f64 * params.time_intervals.total_duration() / 100.));

  }

  ```

#### License

Copyright (c) 2020 Marco Boneberger

Licensed under either of [Apache License, Version 2.0](LICENSE-APACHE) or [MIT license](LICENSE-MIT) at your option.