com.yobotics.simulationconstructionset.util.trajectory
Class YoPolynomial
java.lang.Object
com.yobotics.simulationconstructionset.util.trajectory.YoPolynomial
public class YoPolynomial
- extends java.lang.Object
Method Summary |
void |
compute(double x)
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double |
getAcceleration()
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double |
getCoefficient(int i)
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double[] |
getCoefficients()
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double |
getIntegral(double from,
double to)
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int |
getNumberOfCoefficients()
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double |
getPosition()
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double |
getVelocity()
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void |
setConstant(double z)
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void |
setCubic(double t0,
double tFinal,
double z0,
double zd0,
double zFinal,
double zdFinal)
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void |
setCubicThreeInitialConditionsFinalPosition(double t0,
double tFinal,
double z0,
double zd0,
double zdd0,
double zFinal)
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void |
setCubicUsingFinalAccelerationButNotFinalPosition(double t0,
double tFinal,
double z0,
double zd0,
double zdFinal,
double zddFinal)
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void |
setCubicUsingIntermediatePoints(double t0,
double tIntermediate1,
double tIntermediate2,
double tFinal,
double z0,
double zIntermediate1,
double zIntermediate2,
double zFinal)
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void |
setDirectly(double[] coefficients)
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void |
setLinear(double t,
double z,
double zd)
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void |
setLinear(double t0,
double tFinal,
double z0,
double zf)
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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)
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void |
setQuartic(double t0,
double tFinal,
double z0,
double zd0,
double zdd0,
double zFinal,
double zdFinal)
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void |
setQuarticUsingFinalAcceleration(double t0,
double tFinal,
double z0,
double zd0,
double zFinal,
double zdFinal,
double zddFinal)
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void |
setQuarticUsingIntermediateVelocity(double t0,
double tIntermediate,
double tFinal,
double z0,
double zd0,
double zdIntermediate,
double zFinal,
double zdFinal)
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void |
setQuarticUsingMidPoint(double t0,
double tFinal,
double z0,
double zd0,
double zMid,
double zFinal,
double zdFinal)
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void |
setQuarticUsingWayPoint(double t0,
double tIntermediate,
double tFinal,
double z0,
double zd0,
double zIntermediate,
double zf,
double zdf)
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void |
setQuintic(double t0,
double tFinal,
double z0,
double zd0,
double zdd0,
double zf,
double zdf,
double zddf)
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void |
setQuinticUsingIntermediateVelocityAndAcceleration(double t0,
double tIntermediate,
double tFinal,
double z0,
double zd0,
double zdIntermediate,
double zddIntermediate,
double zFinal,
double zdFinal)
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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)
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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)
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void |
setSexticUsingWaypointVelocityAndAcceleration(double t0,
double tIntermediate,
double tFinal,
double z0,
double zd0,
double zdd0,
double zdIntermediate,
double zddIntermediate,
double zFinal,
double zdFinal)
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void |
setXPowers(double[] xPowers,
double x)
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Methods inherited from class java.lang.Object |
equals, getClass, hashCode, notify, notifyAll, toString, wait, wait, wait |
YoPolynomial
public YoPolynomial(java.lang.String name,
int numberOfCoefficients,
YoVariableRegistry registry)
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()