us.ihmc.utilities.math.trajectories
Class TrapezoidalVelocityTrajectory

java.lang.Object
  extended by us.ihmc.utilities.math.trajectories.TrapezoidalVelocityTrajectory

public class TrapezoidalVelocityTrajectory
extends java.lang.Object


Constructor Summary
TrapezoidalVelocityTrajectory(double t0, double x0, double xF, double v0, double vF, double vMax, double aMax)
           
TrapezoidalVelocityTrajectory(double t0, double x0, double xF, double v0, double vF, double vMax, double aMax, boolean enforceFinalVelocity)
           
TrapezoidalVelocityTrajectory(TrapezoidalVelocityTrajectory trapezoidalVelocityTrajectory)
           
 
Method Summary
static void findErrorConditions()
           
 double getAcceleration(double t)
           
 double getAMax()
           
 double getDT1()
           
 double getDT2()
           
 double getEpsilon()
           
 double getFinalTime()
           
 double getMaximumAcceleration()
           
 double getMaximumVelocity()
           
 double getMoveDuration()
           
 double getPosition(double t)
           
 double[] getState(double t)
           
 double getT0()
           
 double getT1()
           
 double getT2()
           
static double getTFMax(TrapezoidalVelocityTrajectory[] trajectories)
           
 double getV0()
           
 double getVelocity(double t)
           
 double getVMax()
           
 double getX0()
           
static void main(java.lang.String[] args)
           
static void testBadCase()
           
 java.lang.String toString()
           
 
Methods inherited from class java.lang.Object
equals, getClass, hashCode, notify, notifyAll, wait, wait, wait
 

Constructor Detail

TrapezoidalVelocityTrajectory

public TrapezoidalVelocityTrajectory(TrapezoidalVelocityTrajectory trapezoidalVelocityTrajectory)

TrapezoidalVelocityTrajectory

public TrapezoidalVelocityTrajectory(double t0,
                                     double x0,
                                     double xF,
                                     double v0,
                                     double vF,
                                     double vMax,
                                     double aMax)

TrapezoidalVelocityTrajectory

public TrapezoidalVelocityTrajectory(double t0,
                                     double x0,
                                     double xF,
                                     double v0,
                                     double vF,
                                     double vMax,
                                     double aMax,
                                     boolean enforceFinalVelocity)
Method Detail

getPosition

public double getPosition(double t)

getVelocity

public double getVelocity(double t)

getAcceleration

public double getAcceleration(double t)

getState

public double[] getState(double t)

getDT1

public double getDT1()

getDT2

public double getDT2()

getMoveDuration

public double getMoveDuration()

getMaximumVelocity

public double getMaximumVelocity()

getMaximumAcceleration

public double getMaximumAcceleration()

getT0

public double getT0()

getT1

public double getT1()

getT2

public double getT2()

getFinalTime

public double getFinalTime()

getX0

public double getX0()

getV0

public double getV0()

getVMax

public double getVMax()

getAMax

public double getAMax()

getEpsilon

public double getEpsilon()

getTFMax

public static double getTFMax(TrapezoidalVelocityTrajectory[] trajectories)

toString

public java.lang.String toString()
Overrides:
toString in class java.lang.Object

findErrorConditions

public static void findErrorConditions()

testBadCase

public static void testBadCase()

main

public static void main(java.lang.String[] args)