com.yobotics.simulationconstructionset.util.trajectory
Class YoMinimumJerkTrajectory
java.lang.Object
com.yobotics.simulationconstructionset.util.trajectory.YoMinimumJerkTrajectory
public class YoMinimumJerkTrajectory
- extends java.lang.Object
Field Summary |
double |
acc
|
double |
pos
|
double |
vel
|
Method Summary |
void |
computeTrajectory(double t)
|
void |
computeTrajectory(double t,
DoubleYoVariable pos)
|
void |
computeTrajectory(double t,
DoubleYoVariable pos,
DoubleYoVariable vel)
|
void |
computeTrajectory(double t,
DoubleYoVariable pos,
DoubleYoVariable vel,
DoubleYoVariable acc)
|
void |
computeTrajectoryDoubles(double t,
double[] vals)
|
double |
getAcceleration()
|
double |
getFinalTime()
|
double |
getPosition()
|
double |
getStartTime()
|
double |
getVelocity()
|
void |
setParams(double X0,
double V0,
double A0,
double Xf,
double Vf,
double Af,
double T0,
double Tf)
|
Methods inherited from class java.lang.Object |
equals, getClass, hashCode, notify, notifyAll, toString, wait, wait, wait |
pos
public double pos
vel
public double vel
acc
public double acc
YoMinimumJerkTrajectory
public YoMinimumJerkTrajectory(java.lang.String name,
YoVariableRegistry registry)
getStartTime
public double getStartTime()
getFinalTime
public double getFinalTime()
getPosition
public double getPosition()
getVelocity
public double getVelocity()
getAcceleration
public double getAcceleration()
setParams
public void setParams(double X0,
double V0,
double A0,
double Xf,
double Vf,
double Af,
double T0,
double Tf)
computeTrajectoryDoubles
public void computeTrajectoryDoubles(double t,
double[] vals)
computeTrajectory
public void computeTrajectory(double t,
DoubleYoVariable pos)
computeTrajectory
public void computeTrajectory(double t,
DoubleYoVariable pos,
DoubleYoVariable vel)
computeTrajectory
public void computeTrajectory(double t,
DoubleYoVariable pos,
DoubleYoVariable vel,
DoubleYoVariable acc)
computeTrajectory
public void computeTrajectory(double t)