Diff: Motion.cpp

Revision:

0:1a0321f1ffbc

--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/Motion.cpp	Fri May 18 12:18:21 2018 +0000
@@ -0,0 +1,603 @@
+/*
+ * Motion.cpp
+ * Copyright (c) 2018, ZHAW
+ * All rights reserved.
+ */
+
+#include <cmath>
+#include <algorithm>
+#include "Motion.h"
+
+using namespace std;
+
+const float Motion::DEFAULT_LIMIT = 1.0f;       // default value for limits
+const float Motion::MINIMUM_LIMIT = 1.0e-9f;    // smallest value allowed for limits
+
+/**
+ * Creates a <code>Motion</code> object.
+ * The values for position, velocity and acceleration are set to 0.
+ */
+Motion::Motion() {
+    
+    position = 0.0;
+    velocity = 0.0f;
+    
+    profileVelocity = DEFAULT_LIMIT;
+    profileAcceleration = DEFAULT_LIMIT;
+    profileDeceleration = DEFAULT_LIMIT;
+}
+
+/**
+ * Creates a <code>Motion</code> object with given values for position and velocity.
+ * @param position the initial position value of this motion, given in [m] or [rad].
+ * @param velocity the initial velocity value of this motion, given in [m/s] or [rad/s].
+ */
+Motion::Motion(double position, float velocity) {
+    
+    this->position = position;
+    this->velocity = velocity;
+    
+    profileVelocity = DEFAULT_LIMIT;
+    profileAcceleration = DEFAULT_LIMIT;
+    profileDeceleration = DEFAULT_LIMIT;
+}
+
+/**
+ * Creates a <code>Motion</code> object with given values for position and velocity.
+ * @param motion another <code>Motion</code> object to copy the values from.
+ */
+Motion::Motion(const Motion& motion) {
+    
+    position = motion.position;
+    velocity = motion.velocity;
+    
+    profileVelocity = motion.profileVelocity;
+    profileAcceleration = motion.profileAcceleration;
+    profileDeceleration = motion.profileDeceleration;
+}
+
+/**
+ * Deletes the Motion object.
+ */
+Motion::~Motion() {}
+
+/**
+ * Sets the values for position and velocity.
+ * @param position the desired position value of this motion, given in [m] or [rad].
+ * @param velocity the desired velocity value of this motion, given in [m/s] or [rad/s].
+ */
+void Motion::set(double position, float velocity) {
+    
+    this->position = position;
+    this->velocity = velocity;
+}
+
+/**
+ * Sets the values for position and velocity.
+ * @param motion another <code>Motion</code> object to copy the values from.
+ */
+void Motion::set(const Motion& motion) {
+    
+    position = motion.position;
+    velocity = motion.velocity;
+}
+
+/**
+ * Sets the position value.
+ * @param position the desired position value of this motion, given in [m] or [rad].
+ */
+void Motion::setPosition(double position) {
+    
+    this->position = position;
+}
+
+/**
+ * Gets the position value.
+ * @return the position value of this motion, given in [m] or [rad].
+ */
+double Motion::getPosition() {
+    
+    return position;
+}
+
+/**
+ * Sets the velocity value.
+ * @param velocity the desired velocity value of this motion, given in [m/s] or [rad/s].
+ */
+void Motion::setVelocity(float velocity) {
+    
+    this->velocity = velocity;
+}
+
+/**
+ * Gets the velocity value.
+ * @return the velocity value of this motion, given in [m/s] or [rad/s].
+ */
+float Motion::getVelocity() {
+    
+    return velocity;
+}
+
+/**
+ * Sets the limit for the velocity value.
+ * @param profileVelocity the limit of the velocity.
+ */
+void Motion::setProfileVelocity(float profileVelocity) {
+    
+    if (profileVelocity > MINIMUM_LIMIT) this->profileVelocity = profileVelocity; else this->profileVelocity = MINIMUM_LIMIT;
+}
+
+/**
+ * Sets the limit for the acceleration value.
+ * @param profileAcceleration the limit of the acceleration.
+ */
+void Motion::setProfileAcceleration(float profileAcceleration) {
+    
+    if (profileAcceleration > MINIMUM_LIMIT) this->profileAcceleration = profileAcceleration; else this->profileAcceleration = MINIMUM_LIMIT;
+}
+
+/**
+ * Sets the limit for the deceleration value.
+ * @param profileDeceleration the limit of the deceleration.
+ */
+void Motion::setProfileDeceleration(float profileDeceleration) {
+    
+    if (profileDeceleration > MINIMUM_LIMIT) this->profileDeceleration = profileDeceleration; else this->profileDeceleration = MINIMUM_LIMIT;
+}
+
+/**
+ * Sets the limits for velocity, acceleration and deceleration values.
+ * @param profileVelocity the limit of the velocity.
+ * @param profileAcceleration the limit of the acceleration.
+ * @param profileDeceleration the limit of the deceleration.
+ */
+void Motion::setLimits(float profileVelocity, float profileAcceleration, float profileDeceleration) {
+    
+    if (profileVelocity > MINIMUM_LIMIT) this->profileVelocity = profileVelocity; else this->profileVelocity = MINIMUM_LIMIT;
+    if (profileAcceleration > MINIMUM_LIMIT) this->profileAcceleration = profileAcceleration; else this->profileAcceleration = MINIMUM_LIMIT;
+    if (profileDeceleration > MINIMUM_LIMIT) this->profileDeceleration = profileDeceleration; else this->profileDeceleration = MINIMUM_LIMIT;
+}
+
+/**
+ * Gets the time needed to move to a given target position.
+ * @param targetPosition the desired target position given in [m] or [rad].
+ * @return the time to move to the target position, given in [s].
+ */
+float Motion::getTimeToPosition(double targetPosition) {
+    
+    // calculate position, when velocity is reduced to zero
+    
+    double stopPosition = (velocity > 0.0f) ? position+(double)(velocity*velocity/profileDeceleration*0.5f) : position-(double)(velocity*velocity/profileDeceleration*0.5f);
+    
+    if (targetPosition > stopPosition) { // positive velocity required
+        
+        if (velocity > profileVelocity) { // slow down to profile velocity first
+            
+            float t1 = (velocity-profileVelocity)/profileDeceleration;
+            float t2 = (float)(targetPosition-stopPosition)/profileVelocity;
+            float t3 = profileVelocity/profileDeceleration;
+            
+            return t1+t2+t3;
+            
+        } else if (velocity > 0.0f) { // speed up to profile velocity
+            
+            float t1 = (profileVelocity-velocity)/profileAcceleration;
+            float t3 = profileVelocity/profileDeceleration;
+            float t2 = ((float)(targetPosition-position)-(velocity+profileVelocity)*0.5f*t1)/profileVelocity-0.5f*t3;
+            
+            if (t2 < 0.0f) {
+                float maxVelocity = sqrt((2.0f*(float)(targetPosition-position)*profileAcceleration+velocity*velocity)*profileDeceleration/(profileAcceleration+profileDeceleration));
+                t1 = (maxVelocity-velocity)/profileAcceleration;
+                t2 = 0.0f;
+                t3 = maxVelocity/profileDeceleration;
+            }
+            
+            return t1+t2+t3;
+            
+        } else { // slow down to zero first, and then speed up to profile velocity
+            
+            float t1 = -velocity/profileDeceleration;
+            float t2 = profileVelocity/profileAcceleration;
+            float t4 = profileVelocity/profileDeceleration;
+            float t3 = ((float)(targetPosition-position)-velocity*0.5f*t1)/profileVelocity-0.5f*(t2+t4);
+            
+            if (t3 < 0.0f) {
+                float maxVelocity = sqrt((2.0f*(float)(targetPosition-position)*profileDeceleration+velocity*velocity)*profileAcceleration/(profileAcceleration+profileDeceleration));
+                t2 = maxVelocity/profileAcceleration;
+                t3 = 0.0f;
+                t4 = maxVelocity/profileDeceleration;
+            }
+            
+            return t1+t2+t3+t4;
+        }
+        
+    } else { // negative velocity required
+        
+        if (velocity < -profileVelocity) { // slow down to (negative) profile velocity first
+            
+            float t1 = (-profileVelocity-velocity)/profileDeceleration;
+            float t2 = (float)(stopPosition-targetPosition)/profileVelocity;
+            float t3 = profileVelocity/profileDeceleration;
+            
+            return t1+t2+t3;
+            
+        } else if (velocity < 0.0f) { // speed up to (negative) profile velocity
+            
+            float t1 = (velocity+profileVelocity)/profileAcceleration;
+            float t3 = profileVelocity/profileDeceleration;
+            float t2 = ((float)(position-targetPosition)+(velocity-profileVelocity)*0.5f*t1)/profileVelocity-0.5f*t3;
+            
+            if (t2 < 0.0f) {
+                float minVelocity = -sqrt((-2.0f*(float)(targetPosition-position)*profileAcceleration+velocity*velocity)*profileDeceleration/(profileAcceleration+profileDeceleration));
+                t1 = (velocity-minVelocity)/profileAcceleration;
+                t2 = 0.0f;
+                t3 = -minVelocity/profileDeceleration;
+            }
+            
+            return t1+t2+t3;
+            
+        } else { // slow down to zero first, and then speed up to (negative) profile velocity
+            
+            float t1 = velocity/profileDeceleration;
+            float t2 = profileVelocity/profileAcceleration;
+            float t4 = profileVelocity/profileDeceleration;
+            float t3 = (-(float)(targetPosition-position)+velocity*0.5f*t1)/profileVelocity-0.5f*(t2+t4);
+            
+            if (t3 < 0.0f) {
+                float minVelocity = -sqrt((-2.0f*(float)(targetPosition-position)*profileDeceleration+velocity*velocity)*profileAcceleration/(profileAcceleration+profileDeceleration));
+                t2 = -minVelocity/profileAcceleration;
+                t3 = 0.0f;
+                t4 = -minVelocity/profileDeceleration;
+            }
+            
+            return t1+t2+t3+t4;
+        }
+    }
+}
+
+/**
+ * Increments the current motion towards a given target velocity.
+ * @param targetVelocity the desired target velocity given in [m/s] or [rad/s].
+ * @param period the time period to increment the motion values for, given in [s].
+ */
+void Motion::incrementToVelocity(float targetVelocity, float period) {
+    
+    if (targetVelocity < -profileVelocity) targetVelocity = -profileVelocity;
+    else if (targetVelocity > profileVelocity) targetVelocity = profileVelocity;
+    
+    if (targetVelocity > 0.0f) {
+        
+        if (velocity > targetVelocity) { // slow down to target velocity
+            
+            float t1 = (velocity-targetVelocity)/profileDeceleration;
+            
+            if (t1 > period) {
+                position += (double)((velocity-profileDeceleration*0.5f*period)*period);
+                velocity += -profileDeceleration*period;
+            } else {
+                position += (double)((velocity-profileDeceleration*0.5f*t1)*t1);
+                velocity += -profileDeceleration*t1;
+                position += (double)(velocity*(period-t1));
+            }
+            
+        } else if (velocity > 0.0f) { // speed up to target velocity
+            
+            float t1 = (targetVelocity-velocity)/profileAcceleration;
+            
+            if (t1 > period) {
+                position += (double)((velocity+profileAcceleration*0.5f*period)*period);
+                velocity += profileAcceleration*period;
+            } else {
+                position += (double)((velocity+profileAcceleration*0.5f*t1)*t1);
+                velocity += profileAcceleration*t1;
+                position += (double)(velocity*(period-t1));
+            }
+            
+        } else { // slow down to zero first, and then speed up to target velocity
+            
+            float t1 = -velocity/profileDeceleration;
+            float t2 = targetVelocity/profileAcceleration;
+            
+            if (t1 > period) {
+                position += (double)((velocity+profileDeceleration*0.5f*period)*period);
+                velocity += profileDeceleration*period;
+            } else if (t1+t2 > period) {
+                position += (double)((velocity+profileDeceleration*0.5f*t1)*t1);
+                velocity += profileDeceleration*t1;
+                position += (double)((velocity+profileAcceleration*0.5f*(period-t1))*(period-t1));
+                velocity += profileAcceleration*(period-t1);
+            } else {
+                position += (double)((velocity+profileDeceleration*0.5f*t1)*t1);
+                velocity += profileDeceleration*t1;
+                position += (double)((velocity+profileAcceleration*0.5f*t2)*t2);
+                velocity += profileAcceleration*t2;
+                position += (double)(velocity*(period-t1-t2));
+            }
+        }
+        
+    } else {
+        
+        if (velocity < targetVelocity) { // slow down to (negative) target velocity
+            
+            float t1 = (targetVelocity-velocity)/profileDeceleration;
+            
+            if (t1 > period) {
+                position += (double)((velocity+profileDeceleration*0.5f*period)*period);
+                velocity += profileDeceleration*period;
+            } else {
+                position += (double)((velocity+profileDeceleration*0.5f*t1)*t1);
+                velocity += profileDeceleration*t1;
+                position += (double)(velocity*(period-t1));
+            }
+            
+        } else if (velocity < 0.0f) { // speed up to (negative) target velocity
+            
+            float t1 = (velocity-targetVelocity)/profileAcceleration;
+            
+            if (t1 > period) {
+                position += (double)((velocity-profileAcceleration*0.5f*period)*period);
+                velocity += -profileAcceleration*period;
+            } else {
+                position += (double)((velocity-profileAcceleration*0.5f*t1)*t1);
+                velocity += -profileAcceleration*t1;
+                position += (double)(velocity*(period-t1));
+            }
+            
+        } else { // slow down to zero first, and then speed up to (negative) target velocity
+            
+            float t1 = velocity/profileDeceleration;
+            float t2 = -targetVelocity/profileAcceleration;
+            
+            if (t1 > period) {
+                position += (double)((velocity-profileDeceleration*0.5f*period)*period);
+                velocity += -profileDeceleration*period;
+            } else if (t1+t2 > period) {
+                position += (double)((velocity-profileDeceleration*0.5f*t1)*t1);
+                velocity += -profileDeceleration*t1;
+                position += (double)((velocity-profileAcceleration*0.5f*(period-t1))*(period-t1));
+                velocity += -profileAcceleration*(period-t1);
+            } else {
+                position += (double)((velocity-profileDeceleration*0.5f*t1)*t1);
+                velocity += -profileDeceleration*t1;
+                position += (double)((velocity-profileAcceleration*0.5f*t2)*t2);
+                velocity += -profileAcceleration*t2;
+                position += (double)(velocity*(period-t1-t2));
+            }
+        }
+    }
+}
+
+/**
+ * Increments the current motion towards a given target position.
+ * @param targetPosition the desired target position given in [m] or [rad].
+ * @param period the time period to increment the motion values for, given in [s].
+ */
+void Motion::incrementToPosition(double targetPosition, float period) {
+    
+    // calculate position, when velocity is reduced to zero
+    
+    double stopPosition = (velocity > 0.0f) ? position+(double)(velocity*velocity/profileDeceleration*0.5f) : position-(double)(velocity*velocity/profileDeceleration*0.5f);
+    
+    if (targetPosition > stopPosition) { // positive velocity required
+        
+        if (velocity > profileVelocity) { // slow down to profile velocity first
+            
+            float t1 = (velocity-profileVelocity)/profileDeceleration;
+            float t2 = (float)(targetPosition-stopPosition)/profileVelocity;
+            float t3 = profileVelocity/profileDeceleration;
+            
+            if (t1 > period) {
+                position += (double)((velocity-profileDeceleration*0.5f*period)*period);
+                velocity += -profileDeceleration*period;
+            } else if (t1+t2 > period) {
+                position += (double)((velocity-profileDeceleration*0.5f*t1)*t1);
+                velocity += -profileDeceleration*t1;
+                position += (double)(velocity*(period-t1));
+            } else if (t1+t2+t3 > period) {
+                position += (double)((velocity-profileDeceleration*0.5f*t1)*t1);
+                velocity += -profileDeceleration*t1;
+                position += (double)(velocity*t2);
+                position += (double)((velocity-profileDeceleration*0.5f*(period-t1-t2))*(period-t1-t2));
+                velocity += -profileDeceleration*(period-t1-t2);
+            } else {
+                position += (double)((velocity-profileDeceleration*0.5f*t1)*t1);
+                velocity += -profileDeceleration*t1;
+                position += (double)(velocity*t2);
+                position += (double)((velocity-profileDeceleration*0.5f*t3)*t3);
+                velocity += -profileDeceleration*t3;
+            }
+            
+        } else if (velocity > 0.0f) { // speed up to profile velocity
+            
+            float t1 = (profileVelocity-velocity)/profileAcceleration;
+            float t3 = profileVelocity/profileDeceleration;
+            float t2 = ((float)(targetPosition-position)-(velocity+profileVelocity)*0.5f*t1)/profileVelocity-0.5f*t3;
+            
+            if (t2 < 0.0f) {
+                float maxVelocity = sqrt((2.0f*(float)(targetPosition-position)*profileAcceleration+velocity*velocity)*profileDeceleration/(profileAcceleration+profileDeceleration));
+                t1 = (maxVelocity-velocity)/profileAcceleration;
+                t2 = 0.0f;
+                t3 = maxVelocity/profileDeceleration;
+            }
+            
+            if (t1 > period) {
+                position += (double)((velocity+profileAcceleration*0.5f*period)*period);
+                velocity += profileAcceleration*period;
+            } else if (t1+t2 > period) {
+                position += (double)((velocity+profileAcceleration*0.5f*t1)*t1);
+                velocity += profileAcceleration*t1;
+                position += (double)(velocity*(period-t1));
+            } else if (t1+t2+t3 > period) {
+                position += (double)((velocity+profileAcceleration*0.5f*t1)*t1);
+                velocity += profileAcceleration*t1;
+                position += (double)(velocity*t2);
+                position += (double)((velocity-profileDeceleration*0.5f*(period-t1-t2))*(period-t1-t2));
+                velocity += -profileDeceleration*(period-t1-t2);
+            } else {
+                position += (double)((velocity+profileAcceleration*0.5f*t1)*t1);
+                velocity += profileAcceleration*t1;
+                position += (double)(velocity*t2);
+                position += (double)((velocity-profileDeceleration*0.5f*t3)*t3);
+                velocity += -profileDeceleration*t3;
+            }
+            
+        } else { // slow down to zero first, and then speed up to profile velocity
+            
+            float t1 = -velocity/profileDeceleration;
+            float t2 = profileVelocity/profileAcceleration;
+            float t4 = profileVelocity/profileDeceleration;
+            float t3 = ((float)(targetPosition-position)-velocity*0.5f*t1)/profileVelocity-0.5f*(t2+t4);
+            
+            if (t3 < 0.0f) {
+                float maxVelocity = sqrt((2.0f*(float)(targetPosition-position)*profileDeceleration+velocity*velocity)*profileAcceleration/(profileAcceleration+profileDeceleration));
+                t2 = maxVelocity/profileAcceleration;
+                t3 = 0.0f;
+                t4 = maxVelocity/profileDeceleration;
+            }
+            
+            if (t1 > period) {
+                position += (double)((velocity+profileDeceleration*0.5f*period)*period);
+                velocity += profileDeceleration*period;
+            } else if (t1+t2 > period) {
+                position += (double)((velocity+profileDeceleration*0.5f*t1)*t1);
+                velocity += profileDeceleration*t1;
+                position += (double)((velocity+profileAcceleration*0.5f*(period-t1))*(period-t1));
+                velocity += profileAcceleration*(period-t1);
+            } else if (t1+t2+t3 > period) {
+                position += (double)((velocity+profileDeceleration*0.5f*t1)*t1);
+                velocity += profileDeceleration*t1;
+                position += (double)((velocity+profileAcceleration*0.5f*t2)*t2);
+                velocity += profileAcceleration*t2;
+                position += (double)(velocity*(period-t1-t2));
+            } else if (t1+t2+t3+t4 > period) {
+                position += (double)((velocity+profileDeceleration*0.5f*t1)*t1);
+                velocity += profileDeceleration*t1;
+                position += (double)((velocity+profileAcceleration*0.5f*t2)*t2);
+                velocity += profileAcceleration*t2;
+                position += (double)(velocity*t3);
+                position += (double)((velocity-profileDeceleration*0.5f*(period-t1-t2-t3))*(period-t1-t2-t3));
+                velocity += -profileDeceleration*(period-t1-t2-t3);
+            } else {
+                position += (double)((velocity+profileDeceleration*0.5f*t1)*t1);
+                velocity += profileDeceleration*t1;
+                position += (double)((velocity+profileAcceleration*0.5f*t2)*t2);
+                velocity += profileAcceleration*t2;
+                position += (double)(velocity*t3);
+                position += (double)((velocity-profileDeceleration*0.5f*t4)*t4);
+                velocity += -profileDeceleration*t4;
+            }
+        }
+        
+    } else { // negative velocity required
+        
+        if (velocity < -profileVelocity) { // slow down to (negative) profile velocity first
+            
+            float t1 = (-profileVelocity-velocity)/profileDeceleration;
+            float t2 = (float)(stopPosition-targetPosition)/profileVelocity;
+            float t3 = profileVelocity/profileDeceleration;
+            
+            if (t1 > period) {
+                position += (double)((velocity+profileDeceleration*0.5f*period)*period);
+                velocity += profileDeceleration*period;
+            } else if (t1+t2 > period) {
+                position += (double)((velocity+profileDeceleration*0.5f*t1)*t1);
+                velocity += profileDeceleration*t1;
+                position += (double)(velocity*(period-t1));
+            } else if (t1+t2+t3 > period) {
+                position += (double)((velocity+profileDeceleration*0.5f*t1)*t1);
+                velocity += profileDeceleration*t1;
+                position += (double)(velocity*t2);
+                position += (double)((velocity+profileDeceleration*0.5f*(period-t1-t2))*(period-t1-t2));
+                velocity += profileDeceleration*(period-t1-t2);
+            } else {
+                position += (double)((velocity+profileDeceleration*0.5f*t1)*t1);
+                velocity += profileDeceleration*t1;
+                position += (double)(velocity*t2);
+                position += (double)((velocity+profileDeceleration*0.5f*t3)*t3);
+                velocity += profileDeceleration*t3;
+            }
+            
+        } else if (velocity < 0.0f) { // speed up to (negative) profile velocity
+            
+            float t1 = (velocity+profileVelocity)/profileAcceleration;
+            float t3 = profileVelocity/profileDeceleration;
+            float t2 = ((float)(position-targetPosition)+(velocity-profileVelocity)*0.5f*t1)/profileVelocity-0.5f*t3;
+            
+            if (t2 < 0.0f) {
+                float minVelocity = -sqrt((-2.0f*(float)(targetPosition-position)*profileAcceleration+velocity*velocity)*profileDeceleration/(profileAcceleration+profileDeceleration));
+                t1 = (velocity-minVelocity)/profileAcceleration;
+                t2 = 0.0f;
+                t3 = -minVelocity/profileDeceleration;
+            }
+            
+            if (t1 > period) {
+                position += (double)((velocity-profileAcceleration*0.5f*period)*period);
+                velocity += -profileAcceleration*period;
+            } else if (t1+t2 > period) {
+                position += (double)((velocity-profileAcceleration*0.5f*t1)*t1);
+                velocity += -profileAcceleration*t1;
+                position += (double)(velocity*(period-t1));
+            } else if (t1+t2+t3 > period) {
+                position += (double)((velocity-profileAcceleration*0.5f*t1)*t1);
+                velocity += -profileAcceleration*t1;
+                position += (double)(velocity*t2);
+                position += (double)((velocity+profileDeceleration*0.5f*(period-t1-t2))*(period-t1-t2));
+                velocity += profileDeceleration*(period-t1-t2);
+            } else {
+                position += (double)((velocity-profileAcceleration*0.5f*t1)*t1);
+                velocity += -profileAcceleration*t1;
+                position += (double)(velocity*t2);
+                position += (double)((velocity+profileDeceleration*0.5f*t3)*t3);
+                velocity += profileDeceleration*t3;
+            }
+            
+        } else { // slow down to zero first, and then speed up to (negative) profile velocity
+            
+            float t1 = velocity/profileDeceleration;
+            float t2 = profileVelocity/profileAcceleration;
+            float t4 = profileVelocity/profileDeceleration;
+            float t3 = (-(float)(targetPosition-position)+velocity*0.5f*t1)/profileVelocity-0.5f*(t2+t4);
+            
+            if (t3 < 0.0f) {
+                float minVelocity = -sqrt((-2.0f*(float)(targetPosition-position)*profileDeceleration+velocity*velocity)*profileAcceleration/(profileAcceleration+profileDeceleration));
+                t2 = -minVelocity/profileAcceleration;
+                t3 = 0.0f;
+                t4 = -minVelocity/profileDeceleration;
+            }
+            
+            if (t1 > period) {
+                position += (double)((velocity-profileDeceleration*0.5f*period)*period);
+                velocity += -profileDeceleration*period;
+            } else if (t1+t2 > period) {
+                position += (double)((velocity-profileDeceleration*0.5f*t1)*t1);
+                velocity += -profileDeceleration*t1;
+                position += (double)((velocity-profileAcceleration*0.5f*(period-t1))*(period-t1));
+                velocity += -profileAcceleration*(period-t1);
+            } else if (t1+t2+t3 > period) {
+                position += (double)((velocity-profileDeceleration*0.5f*t1)*t1);
+                velocity += -profileDeceleration*t1;
+                position += (double)((velocity-profileAcceleration*0.5f*t2)*t2);
+                velocity += -profileAcceleration*t2;
+                position += (double)(velocity*(period-t1-t2));
+            } else if (t1+t2+t3+t4 > period) {
+                position += (double)((velocity-profileDeceleration*0.5f*t1)*t1);
+                velocity += -profileDeceleration*t1;
+                position += (double)((velocity-profileAcceleration*0.5f*t2)*t2);
+                velocity += -profileAcceleration*t2;
+                position += (double)(velocity*t3);
+                position += (double)((velocity+profileDeceleration*0.5f*(period-t1-t2-t3))*(period-t1-t2-t3));
+                velocity += profileDeceleration*(period-t1-t2-t3);
+            } else {
+                position += (double)((velocity-profileDeceleration*0.5f*t1)*t1);
+                velocity += -profileDeceleration*t1;
+                position += (double)((velocity-profileAcceleration*0.5f*t2)*t2);
+                velocity += -profileAcceleration*t2;
+                position += (double)(velocity*t3);
+                position += (double)((velocity+profileDeceleration*0.5f*t4)*t4);
+                velocity += profileDeceleration*t4;
+            }
+        }
+    }
+}
+
+