us.ihmc.utilities.math.alphaToAlpha
Class StretchedSlowAtEndAlphaToAlphaFunction
java.lang.Object
us.ihmc.utilities.math.alphaToAlpha.StretchedSlowAtEndAlphaToAlphaFunction
- All Implemented Interfaces:
- AlphaToAlphaFunction
public class StretchedSlowAtEndAlphaToAlphaFunction
- extends java.lang.Object
- implements AlphaToAlphaFunction
StretchedSlowAtEndAlphaToAlphaFunction
AlphaToAlphaFunction morphing that ensures:
a) f(0) = 0, f(1) = 1,
b) f'(1) = 0, f'(0) = slopeAtStart
c) f''(0) = 0
Copyright (c) 2007
Company: IHMC
- Version:
- 1.0
- Author:
- IHMC LearningLocomotion Team
Methods inherited from class java.lang.Object |
equals, getClass, hashCode, notify, notifyAll, toString, wait, wait, wait |
StretchedSlowAtEndAlphaToAlphaFunction
public StretchedSlowAtEndAlphaToAlphaFunction(double slopeAtStart)
getAlphaPrime
public double getAlphaPrime(double alpha)
- Specified by:
getAlphaPrime
in interface AlphaToAlphaFunction
getMaxAlpha
public double getMaxAlpha()
- Specified by:
getMaxAlpha
in interface AlphaToAlphaFunction
getDerivativeAtAlpha
public double getDerivativeAtAlpha(double alpha)
- Specified by:
getDerivativeAtAlpha
in interface AlphaToAlphaFunction
getSecondDerivativeAtAlpha
public double getSecondDerivativeAtAlpha(double alpha)
- Specified by:
getSecondDerivativeAtAlpha
in interface AlphaToAlphaFunction
main
public static void main(java.lang.String[] args)