com.yobotics.simulationconstructionset.util.trajectory
Class PolynomialSpline
java.lang.Object
com.yobotics.simulationconstructionset.util.trajectory.PolynomialSpline
public class PolynomialSpline
- extends java.lang.Object
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 |
PolynomialSpline
public PolynomialSpline(java.lang.String name,
int numberOfCoefficients,
YoVariableRegistry registry)
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()