com.yobotics.simulationconstructionset.util.trajectory
Interface CartesianTrajectoryGenerator

All Known Implementing Classes:
AdjustableParabolicTrajectory, ParabolicCartesianTrajectoryGenerator

public interface CartesianTrajectoryGenerator


Method Summary
 void computeNextTick(FramePoint positionToPack, FrameVector velocityToPack, FrameVector accelerationToPack, double deltaT)
          Packs the new desired position, velocity and acceleration.
 double getFinalTime()
           
 ReferenceFrame getReferenceFrame()
           
 void initialize(FramePoint initialPosition, FrameVector initialVelocity, FrameVector initialAcceleration, FramePoint finalDesiredPosition, FrameVector finalDesiredVelocity)
          initializes the trajectory generator with an initial position and velocity, final position and ground height.
 boolean isDone()
           
 void updateFinalDesiredPosition(FramePoint finalDesiredPosition)
          Changes the final desired position for the trajectory
 

Method Detail

initialize

void initialize(FramePoint initialPosition,
                FrameVector initialVelocity,
                FrameVector initialAcceleration,
                FramePoint finalDesiredPosition,
                FrameVector finalDesiredVelocity)
initializes the trajectory generator with an initial position and velocity, final position and ground height.

Parameters:
initialPosition - initial position of the trajectory
initialVelocity - initial velocity of the trajectory
initialAcceleration - initial acceleration of the trajectory
finalDesiredPosition - final desired position of the trajectory (can be updated using updateFinalDesiredPosition later)
finalDesiredVelocity - final desired velocity of the trajectory

computeNextTick

void computeNextTick(FramePoint positionToPack,
                     FrameVector velocityToPack,
                     FrameVector accelerationToPack,
                     double deltaT)
Packs the new desired position, velocity and acceleration.

Parameters:
positionToPack - new desired position to pack
velocityToPack - new desired velocity to pack
accelerationToPack - new desired acceleration to pack
deltaT - time step

updateFinalDesiredPosition

void updateFinalDesiredPosition(FramePoint finalDesiredPosition)
Changes the final desired position for the trajectory

Parameters:
finalDesiredPosition - the new final desired position

getReferenceFrame

ReferenceFrame getReferenceFrame()

isDone

boolean isDone()

getFinalTime

double getFinalTime()