us.ihmc.utilities.math.trajectories
Class MinimumJerkTrajectory

java.lang.Object
  extended by us.ihmc.utilities.math.trajectories.MinimumJerkTrajectory

public class MinimumJerkTrajectory
extends java.lang.Object


Constructor Summary
MinimumJerkTrajectory()
           
 
Method Summary
 void computeTrajectory(double timeInMove)
           
 double getAcceleration()
           
 double getMoveDuration()
           
 double getPosition()
           
 double getTimeInMove()
           
 double getVelocity()
           
 void setMoveParameters(double X0, double V0, double A0, double Xf, double Vf, double Af, double moveDuration)
           
 
Methods inherited from class java.lang.Object
equals, getClass, hashCode, notify, notifyAll, toString, wait, wait, wait
 

Constructor Detail

MinimumJerkTrajectory

public MinimumJerkTrajectory()
Method Detail

getPosition

public double getPosition()

getVelocity

public double getVelocity()

getAcceleration

public double getAcceleration()

getMoveDuration

public double getMoveDuration()

getTimeInMove

public double getTimeInMove()

setMoveParameters

public void setMoveParameters(double X0,
                              double V0,
                              double A0,
                              double Xf,
                              double Vf,
                              double Af,
                              double moveDuration)

computeTrajectory

public void computeTrajectory(double timeInMove)