com.yobotics.simulationconstructionset.util.trajectory
Class YoSpline3D
java.lang.Object
com.yobotics.simulationconstructionset.util.trajectory.YoSpline3D
public class YoSpline3D
- extends java.lang.Object
Method Summary |
void |
compute(double t)
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FrameVector |
getAcceleration()
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double |
getApproximateTimeForArcLength(double arcLength)
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double |
getArcLength()
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double |
getArcLength(double t1,
double t2)
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FramePoint |
getPosition()
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double |
getT0()
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double |
getTf()
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double |
getTotalTime()
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FrameVector |
getVelocity()
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void |
setCubic(double t0,
double tf,
FramePoint p0,
FrameVector pd0,
FramePoint pf,
FrameVector pdf)
|
void |
setCubicUsingFinalAccelerationButNotFinalPosition(double t0,
double tf,
FramePoint p0,
FrameVector pd0,
FrameVector pdf,
FrameVector pddf)
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void |
setLinear(double t0,
double tf,
FramePoint p0,
FramePoint pf)
|
void |
setLinearUsingFinalPositionAndVelocity(double t0,
double tf,
FramePoint pf,
FrameVector pdf)
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void |
setLinearUsingInitialPositionAndVelocity(double t0,
double tf,
FramePoint p0,
FrameVector pd0)
|
void |
setQuadraticUsingFinalVelocity(double t0,
double tf,
FramePoint p0,
FramePoint pf,
FrameVector pdf)
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void |
setQuadraticUsingInitialVelocity(double t0,
double tf,
FramePoint p0,
FrameVector pd0,
FramePoint pf)
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void |
setQuarticUsingFinalAcceleration(double t0,
double tf,
FramePoint p0,
FrameVector pd0,
FramePoint pf,
FrameVector pdf,
FrameVector pddf)
|
void |
setQuarticUsingInitialAcceleration(double t0,
double tf,
FramePoint p0,
FrameVector pd0,
FrameVector pdd0,
FramePoint pf,
FrameVector pdf)
|
void |
setQuarticUsingIntermediateVelocity(double t0,
double t1,
double tf,
FramePoint p0,
FrameVector pd0,
FrameVector pd1,
FramePoint pf,
FrameVector pdf)
|
void |
setQuintic(double t0,
double tf,
FramePoint p0,
FrameVector pd0,
FrameVector pdd0,
FramePoint pf,
FrameVector pdf,
FrameVector pddf)
|
void |
setQuinticUsingIntermediateVelocityAndAcceleration(double t0,
double t1,
double tf,
FramePoint p0,
FrameVector pd0,
FrameVector pd1,
FrameVector pdd1,
FramePoint pf,
FrameVector pdf)
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void |
setSexticUsingWaypoint(double t0,
double t1,
double tf,
FramePoint p0,
FrameVector pd0,
FrameVector pdd0,
FramePoint p1,
FramePoint pf,
FrameVector pdf,
FrameVector pddf)
|
void |
setSexticUsingWaypointVelocityAndAccelerationAndFinalAcceleration(double t0,
double t1,
double tf,
FramePoint p0,
FrameVector pd0,
FrameVector pd1,
FrameVector pdd1,
FramePoint pf,
FrameVector pdf,
FrameVector pddf)
|
void |
setSexticUsingWaypointVelocityAndAccelerationAndInitialAcceleration(double t0,
double t1,
double tf,
FramePoint p0,
FrameVector pd0,
FrameVector pdd0,
FrameVector pd1,
FrameVector pdd1,
FramePoint pf,
FrameVector pdf)
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Methods inherited from class java.lang.Object |
equals, getClass, hashCode, notify, notifyAll, toString, wait, wait, wait |
polynomials
public final java.util.EnumMap<Direction,YoPolynomial> polynomials
YoSpline3D
public YoSpline3D(int numberOfCoefficientsPerPolynomial,
int arcLengthCalculatorDivisions,
ReferenceFrame referenceFrame,
YoVariableRegistry parentRegistry,
java.lang.String namePrefix)
setLinear
public void setLinear(double t0,
double tf,
FramePoint p0,
FramePoint pf)
setLinearUsingInitialPositionAndVelocity
public void setLinearUsingInitialPositionAndVelocity(double t0,
double tf,
FramePoint p0,
FrameVector pd0)
setLinearUsingFinalPositionAndVelocity
public void setLinearUsingFinalPositionAndVelocity(double t0,
double tf,
FramePoint pf,
FrameVector pdf)
setQuarticUsingIntermediateVelocity
public void setQuarticUsingIntermediateVelocity(double t0,
double t1,
double tf,
FramePoint p0,
FrameVector pd0,
FrameVector pd1,
FramePoint pf,
FrameVector pdf)
setQuinticUsingIntermediateVelocityAndAcceleration
public void setQuinticUsingIntermediateVelocityAndAcceleration(double t0,
double t1,
double tf,
FramePoint p0,
FrameVector pd0,
FrameVector pd1,
FrameVector pdd1,
FramePoint pf,
FrameVector pdf)
setSexticUsingWaypoint
public void setSexticUsingWaypoint(double t0,
double t1,
double tf,
FramePoint p0,
FrameVector pd0,
FrameVector pdd0,
FramePoint p1,
FramePoint pf,
FrameVector pdf,
FrameVector pddf)
setSexticUsingWaypointVelocityAndAccelerationAndInitialAcceleration
public void setSexticUsingWaypointVelocityAndAccelerationAndInitialAcceleration(double t0,
double t1,
double tf,
FramePoint p0,
FrameVector pd0,
FrameVector pdd0,
FrameVector pd1,
FrameVector pdd1,
FramePoint pf,
FrameVector pdf)
setSexticUsingWaypointVelocityAndAccelerationAndFinalAcceleration
public void setSexticUsingWaypointVelocityAndAccelerationAndFinalAcceleration(double t0,
double t1,
double tf,
FramePoint p0,
FrameVector pd0,
FrameVector pd1,
FrameVector pdd1,
FramePoint pf,
FrameVector pdf,
FrameVector pddf)
setQuarticUsingInitialAcceleration
public void setQuarticUsingInitialAcceleration(double t0,
double tf,
FramePoint p0,
FrameVector pd0,
FrameVector pdd0,
FramePoint pf,
FrameVector pdf)
setQuarticUsingFinalAcceleration
public void setQuarticUsingFinalAcceleration(double t0,
double tf,
FramePoint p0,
FrameVector pd0,
FramePoint pf,
FrameVector pdf,
FrameVector pddf)
setQuadraticUsingInitialVelocity
public void setQuadraticUsingInitialVelocity(double t0,
double tf,
FramePoint p0,
FrameVector pd0,
FramePoint pf)
setQuadraticUsingFinalVelocity
public void setQuadraticUsingFinalVelocity(double t0,
double tf,
FramePoint p0,
FramePoint pf,
FrameVector pdf)
setCubic
public void setCubic(double t0,
double tf,
FramePoint p0,
FrameVector pd0,
FramePoint pf,
FrameVector pdf)
setCubicUsingFinalAccelerationButNotFinalPosition
public void setCubicUsingFinalAccelerationButNotFinalPosition(double t0,
double tf,
FramePoint p0,
FrameVector pd0,
FrameVector pdf,
FrameVector pddf)
setQuintic
public void setQuintic(double t0,
double tf,
FramePoint p0,
FrameVector pd0,
FrameVector pdd0,
FramePoint pf,
FrameVector pdf,
FrameVector pddf)
compute
public void compute(double t)
getPosition
public FramePoint getPosition()
getVelocity
public FrameVector getVelocity()
getAcceleration
public FrameVector getAcceleration()
getArcLength
public double getArcLength(double t1,
double t2)
getArcLength
public double getArcLength()
getApproximateTimeForArcLength
public double getApproximateTimeForArcLength(double arcLength)
getT0
public double getT0()
getTf
public double getTf()
getTotalTime
public double getTotalTime()