com.yobotics.simulationconstructionset.util.trajectory
Class PolynomialSpline

java.lang.Object
  extended by com.yobotics.simulationconstructionset.util.trajectory.PolynomialSpline

public class PolynomialSpline
extends java.lang.Object


Constructor Summary
PolynomialSpline(java.lang.String name, int numberOfCoefficients, YoVariableRegistry registry)
           
 
Method Summary
 void compute(double x)
           
 double getAcceleration()
           
 double getCoefficient(int i)
           
 double[] getCoefficients()
           
 int getNumberOfCoefficients()
           
 double getPosition()
           
 double getVelocity()
           
 void setCubic(double t0, double tFinal, double z0, double zd0, double zFinal, double zdFinal)
           
 void setDirectly(double[] coefficients)
           
 void setQuadratic(double t0, double tFinal, double z0, double zd0, double zFinal)
           
 void setQuarticUsingFinalAcceleration(double t0, double tFinal, double z0, double zd0, double zFinal, double zdFinal, double zddFinal)
           
 void setQuarticUsingMidPoint(double t0, double tFinal, double z0, double zd0, double zMid, double zFinal, double zdFinal)
           
 void setQuintic(double t0, double tFinal, double z0, double zd0, double zdd0, double zf, double zdf, double zddf)
           
 
Methods inherited from class java.lang.Object
equals, getClass, hashCode, notify, notifyAll, toString, wait, wait, wait
 

Constructor Detail

PolynomialSpline

public PolynomialSpline(java.lang.String name,
                        int numberOfCoefficients,
                        YoVariableRegistry registry)
Method Detail

getPosition

public double getPosition()

getVelocity

public double getVelocity()

getAcceleration

public double getAcceleration()

getCoefficient

public double getCoefficient(int i)

getCoefficients

public double[] getCoefficients()

setQuintic

public void setQuintic(double t0,
                       double tFinal,
                       double z0,
                       double zd0,
                       double zdd0,
                       double zf,
                       double zdf,
                       double zddf)

setQuarticUsingMidPoint

public void setQuarticUsingMidPoint(double t0,
                                    double tFinal,
                                    double z0,
                                    double zd0,
                                    double zMid,
                                    double zFinal,
                                    double zdFinal)

setQuarticUsingFinalAcceleration

public void setQuarticUsingFinalAcceleration(double t0,
                                             double tFinal,
                                             double z0,
                                             double zd0,
                                             double zFinal,
                                             double zdFinal,
                                             double zddFinal)

setCubic

public void setCubic(double t0,
                     double tFinal,
                     double z0,
                     double zd0,
                     double zFinal,
                     double zdFinal)

setQuadratic

public void setQuadratic(double t0,
                         double tFinal,
                         double z0,
                         double zd0,
                         double zFinal)

setDirectly

public void setDirectly(double[] coefficients)

compute

public void compute(double x)

getNumberOfCoefficients

public int getNumberOfCoefficients()