com.yobotics.simulationconstructionset.util.trajectory
Class ParabolicCartesianTrajectoryGenerator
java.lang.Object
com.yobotics.simulationconstructionset.util.trajectory.ParabolicCartesianTrajectoryGenerator
- All Implemented Interfaces:
- CartesianTrajectoryGenerator
- Direct Known Subclasses:
- AdjustableParabolicTrajectory
public class ParabolicCartesianTrajectoryGenerator
- extends java.lang.Object
- implements CartesianTrajectoryGenerator
Methods inherited from class java.lang.Object |
equals, getClass, hashCode, notify, notifyAll, toString, wait, wait, wait |
ParabolicCartesianTrajectoryGenerator
public ParabolicCartesianTrajectoryGenerator(java.lang.String namePrefix,
ReferenceFrame referenceFrame,
DoubleProvider stepTimeProvider,
double groundClearance,
YoVariableRegistry parentRegistry)
initialize
public void initialize(FramePoint initialPosition,
FrameVector initialVelocity,
FrameVector initialAcceleration,
FramePoint finalDesiredPosition,
FrameVector finalDesiredVelocity)
- Description copied from interface:
CartesianTrajectoryGenerator
- initializes the trajectory generator with an initial position and velocity, final position and ground height.
- Specified by:
initialize
in interface CartesianTrajectoryGenerator
- Parameters:
initialPosition
- initial position of the trajectoryinitialVelocity
- initial velocity of the trajectoryinitialAcceleration
- initial acceleration of the trajectoryfinalDesiredPosition
- final desired position of the trajectory (can be updated using updateFinalDesiredPosition later)finalDesiredVelocity
- final desired velocity of the trajectory
computeNextTick
public void computeNextTick(FramePoint positionToPack,
FrameVector velocityToPack,
FrameVector accelerationToPack,
double deltaT)
- Description copied from interface:
CartesianTrajectoryGenerator
- Packs the new desired position, velocity and acceleration.
- Specified by:
computeNextTick
in interface CartesianTrajectoryGenerator
- Parameters:
positionToPack
- new desired position to packvelocityToPack
- new desired velocity to packaccelerationToPack
- new desired acceleration to packdeltaT
- time step
updateFinalDesiredPosition
public void updateFinalDesiredPosition(FramePoint finalDesiredPosition)
- Description copied from interface:
CartesianTrajectoryGenerator
- Changes the final desired position for the trajectory
- Specified by:
updateFinalDesiredPosition
in interface CartesianTrajectoryGenerator
- Parameters:
finalDesiredPosition
- the new final desired position
getReferenceFrame
public ReferenceFrame getReferenceFrame()
- Specified by:
getReferenceFrame
in interface CartesianTrajectoryGenerator
isDone
public boolean isDone()
- Specified by:
isDone
in interface CartesianTrajectoryGenerator
getFinalTime
public double getFinalTime()
- Specified by:
getFinalTime
in interface CartesianTrajectoryGenerator
updateGroundClearance
public void updateGroundClearance(double newGroundClearance)
getCurrentGroundClearance
public double getCurrentGroundClearance()
packPosition
public void packPosition(FramePoint positionToPack)
packVelocity
public void packVelocity(FrameVector velocityToPack)
packAcceleration
public void packAcceleration(FrameVector accelerationToPack)
compute
public void compute(double time)