us.ihmc.utilities.math.trajectories
Class WaypointMotionGenerator
java.lang.Object
us.ihmc.utilities.math.trajectories.WaypointMotionGenerator
public class WaypointMotionGenerator
- extends java.lang.Object
Methods inherited from class java.lang.Object |
equals, getClass, hashCode, notify, notifyAll, toString, wait, wait, wait |
WaypointMotionGenerator
public WaypointMotionGenerator()
WaypointMotionGenerator
public WaypointMotionGenerator(ListOfPointsTrajectory listOfPointsTrajectory,
double moveDuration)
WaypointMotionGenerator
public WaypointMotionGenerator(ListOfPointsTrajectory listOfPointsTrajectory,
double moveDuration,
double initialVelocity,
double initialAcceleration,
double finalVelocity,
double finalAcceleration)
initialize
public void initialize(ListOfPointsTrajectory listOfPointsTrajectory,
double moveDuration)
initialize
public void initialize(ListOfPointsTrajectory listOfPointsTrajectory,
double moveDuration,
double initialVelocity,
double initialAcceleration,
double finalVelocity,
double finalAcceleration)
getCurrentDesiredPoint
public FramePoint getCurrentDesiredPoint(double timeInMove)
getCurrentDesiredVelocity
public FrameVector getCurrentDesiredVelocity(double timeInMove)
getCurrentDesiredAcceleration
public FrameVector getCurrentDesiredAcceleration(double timeInMove)
setStepSizeforNumericalCalculation
public void setStepSizeforNumericalCalculation(double stepSize)