com.yobotics.simulationconstructionset.util.trajectory
Class YoPolynomial

java.lang.Object
  extended by com.yobotics.simulationconstructionset.util.trajectory.YoPolynomial

public class YoPolynomial
extends java.lang.Object


Constructor Summary
YoPolynomial(java.lang.String name, int numberOfCoefficients, YoVariableRegistry registry)
           
 
Method Summary
 void compute(double x)
           
 double getAcceleration()
           
 double getCoefficient(int i)
           
 double[] getCoefficients()
           
 double getIntegral(double from, double to)
           
 int getNumberOfCoefficients()
           
 double getPosition()
           
 double getVelocity()
           
 void setConstant(double z)
           
 void setCubic(double t0, double tFinal, double z0, double zd0, double zFinal, double zdFinal)
           
 void setCubicThreeInitialConditionsFinalPosition(double t0, double tFinal, double z0, double zd0, double zdd0, double zFinal)
           
 void setCubicUsingFinalAccelerationButNotFinalPosition(double t0, double tFinal, double z0, double zd0, double zdFinal, double zddFinal)
           
 void setCubicUsingIntermediatePoints(double t0, double tIntermediate1, double tIntermediate2, double tFinal, double z0, double zIntermediate1, double zIntermediate2, double zFinal)
           
 void setDirectly(double[] coefficients)
           
 void setLinear(double t, double z, double zd)
           
 void setLinear(double t0, double tFinal, double z0, double zf)
           
 void setNonic(double t0, double tIntermediate0, double tIntermediate1, double tFinal, double z0, double zd0, double zIntermediate0, double zdIntermediate0, double zIntermediate1, double zdIntermediate1, double zf, double zdf)
           
 void setQuadratic(double t0, double tFinal, double z0, double zd0, double zFinal)
           
 void setQuadraticUsingIntermediatePoint(double t0, double tIntermediate, double tFinal, double z0, double zIntermediate, double zFinal)
           
 void setQuartic(double t0, double tFinal, double z0, double zd0, double zdd0, double zFinal, double zdFinal)
           
 void setQuarticUsingFinalAcceleration(double t0, double tFinal, double z0, double zd0, double zFinal, double zdFinal, double zddFinal)
           
 void setQuarticUsingIntermediateVelocity(double t0, double tIntermediate, double tFinal, double z0, double zd0, double zdIntermediate, double zFinal, double zdFinal)
           
 void setQuarticUsingMidPoint(double t0, double tFinal, double z0, double zd0, double zMid, double zFinal, double zdFinal)
           
 void setQuarticUsingWayPoint(double t0, double tIntermediate, double tFinal, double z0, double zd0, double zIntermediate, double zf, double zdf)
           
 void setQuintic(double t0, double tFinal, double z0, double zd0, double zdd0, double zf, double zdf, double zddf)
           
 void setQuinticUsingIntermediateVelocityAndAcceleration(double t0, double tIntermediate, double tFinal, double z0, double zd0, double zdIntermediate, double zddIntermediate, double zFinal, double zdFinal)
           
 void setQuinticUsingWayPoint(double t0, double tIntermediate, double tFinal, double z0, double zd0, double zdd0, double zIntermediate, double zf, double zdf)
           
 void setQuinticUsingWayPoint2(double t0, double tIntermediate, double tFinal, double z0, double zd0, double zdd0, double zIntermediate, double zdIntermediate, double zf)
           
 void setSeptic(double t0, double tIntermediate0, double tIntermediate1, double tFinal, double z0, double zd0, double zIntermediate0, double zdIntermediate0, double zIntermediate1, double zdIntermediate1, double zf, double zdf)
           
 void setSexticUsingWaypoint(double t0, double tIntermediate, double tFinal, double z0, double zd0, double zdd0, double zIntermediate, double zf, double zdf, double zddf)
           
 void setSexticUsingWaypointVelocityAndAcceleration(double t0, double tIntermediate, double tFinal, double z0, double zd0, double zdd0, double zdIntermediate, double zddIntermediate, double zFinal, double zdFinal)
           
 void setXPowers(double[] xPowers, double x)
           
 
Methods inherited from class java.lang.Object
equals, getClass, hashCode, notify, notifyAll, toString, wait, wait, wait
 

Constructor Detail

YoPolynomial

public YoPolynomial(java.lang.String name,
                    int numberOfCoefficients,
                    YoVariableRegistry registry)
Method Detail

getPosition

public double getPosition()

getVelocity

public double getVelocity()

getAcceleration

public double getAcceleration()

getCoefficient

public double getCoefficient(int i)

getCoefficients

public double[] getCoefficients()

setConstant

public void setConstant(double z)

setLinear

public void setLinear(double t0,
                      double tFinal,
                      double z0,
                      double zf)

setLinear

public void setLinear(double t,
                      double z,
                      double zd)

setQuintic

public void setQuintic(double t0,
                       double tFinal,
                       double z0,
                       double zd0,
                       double zdd0,
                       double zf,
                       double zdf,
                       double zddf)

setQuinticUsingWayPoint

public void setQuinticUsingWayPoint(double t0,
                                    double tIntermediate,
                                    double tFinal,
                                    double z0,
                                    double zd0,
                                    double zdd0,
                                    double zIntermediate,
                                    double zf,
                                    double zdf)

setQuinticUsingWayPoint2

public void setQuinticUsingWayPoint2(double t0,
                                     double tIntermediate,
                                     double tFinal,
                                     double z0,
                                     double zd0,
                                     double zdd0,
                                     double zIntermediate,
                                     double zdIntermediate,
                                     double zf)

setQuinticUsingIntermediateVelocityAndAcceleration

public void setQuinticUsingIntermediateVelocityAndAcceleration(double t0,
                                                               double tIntermediate,
                                                               double tFinal,
                                                               double z0,
                                                               double zd0,
                                                               double zdIntermediate,
                                                               double zddIntermediate,
                                                               double zFinal,
                                                               double zdFinal)

setSexticUsingWaypoint

public void setSexticUsingWaypoint(double t0,
                                   double tIntermediate,
                                   double tFinal,
                                   double z0,
                                   double zd0,
                                   double zdd0,
                                   double zIntermediate,
                                   double zf,
                                   double zdf,
                                   double zddf)

setSeptic

public void setSeptic(double t0,
                      double tIntermediate0,
                      double tIntermediate1,
                      double tFinal,
                      double z0,
                      double zd0,
                      double zIntermediate0,
                      double zdIntermediate0,
                      double zIntermediate1,
                      double zdIntermediate1,
                      double zf,
                      double zdf)

setNonic

public void setNonic(double t0,
                     double tIntermediate0,
                     double tIntermediate1,
                     double tFinal,
                     double z0,
                     double zd0,
                     double zIntermediate0,
                     double zdIntermediate0,
                     double zIntermediate1,
                     double zdIntermediate1,
                     double zf,
                     double zdf)

setSexticUsingWaypointVelocityAndAcceleration

public void setSexticUsingWaypointVelocityAndAcceleration(double t0,
                                                          double tIntermediate,
                                                          double tFinal,
                                                          double z0,
                                                          double zd0,
                                                          double zdd0,
                                                          double zdIntermediate,
                                                          double zddIntermediate,
                                                          double zFinal,
                                                          double zdFinal)

setQuarticUsingIntermediateVelocity

public void setQuarticUsingIntermediateVelocity(double t0,
                                                double tIntermediate,
                                                double tFinal,
                                                double z0,
                                                double zd0,
                                                double zdIntermediate,
                                                double zFinal,
                                                double zdFinal)

setQuartic

public void setQuartic(double t0,
                       double tFinal,
                       double z0,
                       double zd0,
                       double zdd0,
                       double zFinal,
                       double zdFinal)

setQuarticUsingMidPoint

public void setQuarticUsingMidPoint(double t0,
                                    double tFinal,
                                    double z0,
                                    double zd0,
                                    double zMid,
                                    double zFinal,
                                    double zdFinal)

setQuarticUsingWayPoint

public void setQuarticUsingWayPoint(double t0,
                                    double tIntermediate,
                                    double tFinal,
                                    double z0,
                                    double zd0,
                                    double zIntermediate,
                                    double zf,
                                    double zdf)

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)

setCubicUsingFinalAccelerationButNotFinalPosition

public void setCubicUsingFinalAccelerationButNotFinalPosition(double t0,
                                                              double tFinal,
                                                              double z0,
                                                              double zd0,
                                                              double zdFinal,
                                                              double zddFinal)

setQuadratic

public void setQuadratic(double t0,
                         double tFinal,
                         double z0,
                         double zd0,
                         double zFinal)

setQuadraticUsingIntermediatePoint

public void setQuadraticUsingIntermediatePoint(double t0,
                                               double tIntermediate,
                                               double tFinal,
                                               double z0,
                                               double zIntermediate,
                                               double zFinal)

setCubicUsingIntermediatePoints

public void setCubicUsingIntermediatePoints(double t0,
                                            double tIntermediate1,
                                            double tIntermediate2,
                                            double tFinal,
                                            double z0,
                                            double zIntermediate1,
                                            double zIntermediate2,
                                            double zFinal)

setCubicThreeInitialConditionsFinalPosition

public void setCubicThreeInitialConditionsFinalPosition(double t0,
                                                        double tFinal,
                                                        double z0,
                                                        double zd0,
                                                        double zdd0,
                                                        double zFinal)

setDirectly

public void setDirectly(double[] coefficients)

compute

public void compute(double x)

getIntegral

public double getIntegral(double from,
                          double to)

setXPowers

public void setXPowers(double[] xPowers,
                       double x)

getNumberOfCoefficients

public int getNumberOfCoefficients()