Slew time (dorado.scheduling.slew_time)

class dorado.scheduling.slew_time(x, v, a)

Bases:

Calculate the time to execute an optimal slew of a given distance.

The optimal slew consists of an acceleration phase at the maximum acceleration, possibly a coasting phase at the maximum angular velocity, and a deceleration phase at the maximum acceleration.

Parameters:

• x (float, numpy.ndarray) – Distance.

• v (float, numpy.ndarray) – Maximum velocity.

• a (float, numpy.ndarray) – Maximum acceleration.

Returns:

t – The minimum time to slew through a distance x given maximum velocity v and maximum acceleration a.

Return type:

float, numpy.ndarray

(Source code)