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public interface CartesianTrajectoryGenerator
Method Summary | |
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void |
computeNextTick(FramePoint positionToPack,
FrameVector velocityToPack,
FrameVector accelerationToPack,
double deltaT)
Packs the new desired position, velocity and acceleration. |
double |
getFinalTime()
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ReferenceFrame |
getReferenceFrame()
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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()
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void |
updateFinalDesiredPosition(FramePoint finalDesiredPosition)
Changes the final desired position for the trajectory |
Method Detail |
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void initialize(FramePoint initialPosition, FrameVector initialVelocity, FrameVector initialAcceleration, FramePoint finalDesiredPosition, FrameVector finalDesiredVelocity)
initialPosition
- initial position of the trajectoryinitialVelocity
- initial velocity of the trajectoryinitialAcceleration
- initial acceleration of the trajectoryfinalDesiredPosition
- final desired position of the trajectory (can be updated using updateFinalDesiredPosition later)finalDesiredVelocity
- final desired velocity of the trajectoryvoid computeNextTick(FramePoint positionToPack, FrameVector velocityToPack, FrameVector accelerationToPack, double deltaT)
positionToPack
- new desired position to packvelocityToPack
- new desired velocity to packaccelerationToPack
- new desired acceleration to packdeltaT
- time stepvoid updateFinalDesiredPosition(FramePoint finalDesiredPosition)
finalDesiredPosition
- the new final desired positionReferenceFrame getReferenceFrame()
boolean isDone()
double getFinalTime()
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