com.yobotics.simulationconstructionset.util.trajectory
Class YoMinimumJerkTrajectory

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

public class YoMinimumJerkTrajectory
extends java.lang.Object


Field Summary
 double acc
           
 double pos
           
 double vel
           
 
Constructor Summary
YoMinimumJerkTrajectory(java.lang.String name, YoVariableRegistry registry)
           
 
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
 

Field Detail

pos

public double pos

vel

public double vel

acc

public double acc
Constructor Detail

YoMinimumJerkTrajectory

public YoMinimumJerkTrajectory(java.lang.String name,
                               YoVariableRegistry registry)
Method Detail

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)