com.yobotics.simulationconstructionset.util.trajectory
Class AdjustableParabolicTrajectory
java.lang.Object
com.yobotics.simulationconstructionset.util.trajectory.ParabolicCartesianTrajectoryGenerator
com.yobotics.simulationconstructionset.util.trajectory.AdjustableParabolicTrajectory
- All Implemented Interfaces:
- CartesianTrajectoryGenerator
public class AdjustableParabolicTrajectory
- extends ParabolicCartesianTrajectoryGenerator
Constructor Summary |
AdjustableParabolicTrajectory(java.lang.String trajectoryName,
YoVariableRegistry parentRegistry,
DynamicGraphicObjectsListRegistry graphicsRegistry,
FramePoint startPoint,
FramePoint endPoint,
double apexOfParabola,
int numberOfStepsToVisualize,
double stepTime)
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AdjustableParabolicTrajectory(YoVariableRegistry parentRegistry,
DynamicGraphicObjectsListRegistry graphicsRegistry,
FramePoint startPoint,
FramePoint endPoint,
double apexOfParabola)
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Methods inherited from class com.yobotics.simulationconstructionset.util.trajectory.ParabolicCartesianTrajectoryGenerator |
compute, getCurrentGroundClearance, getFinalTime, getReferenceFrame, initialize, isDone, packAcceleration, packPosition, packVelocity, updateFinalDesiredPosition, updateGroundClearance |
Methods inherited from class java.lang.Object |
equals, getClass, hashCode, notify, notifyAll, toString, wait, wait, wait |
AdjustableParabolicTrajectory
public AdjustableParabolicTrajectory(YoVariableRegistry parentRegistry,
DynamicGraphicObjectsListRegistry graphicsRegistry,
FramePoint startPoint,
FramePoint endPoint,
double apexOfParabola)
AdjustableParabolicTrajectory
public AdjustableParabolicTrajectory(java.lang.String trajectoryName,
YoVariableRegistry parentRegistry,
DynamicGraphicObjectsListRegistry graphicsRegistry,
FramePoint startPoint,
FramePoint endPoint,
double apexOfParabola,
int numberOfStepsToVisualize,
double stepTime)
updateStartPoint
public void updateStartPoint(FramePoint newStartPoint)
updateEndPoint
public void updateEndPoint(FramePoint newEndPoint)
setApex
public void setApex(double newApex)
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
- Overrides:
computeNextTick
in class ParabolicCartesianTrajectoryGenerator
- Parameters:
positionToPack
- new desired position to packvelocityToPack
- new desired velocity to packaccelerationToPack
- new desired acceleration to packdeltaT
- time step
getEndPoint
public FramePoint getEndPoint()