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java.lang.Objectus.ihmc.utilities.math.alphaToAlpha.StretchedSlowInMiddleAlphaToAlphaFunction
public class StretchedSlowInMiddleAlphaToAlphaFunction
StretchedSlowInMiddleAlphaToAlphaFunction
AlphaToAlphaFunction morphing that ensures: a) f(0) = 0, f(1) = 1, b) f'(0) = derivativeAtStartAndEnd, f'(1) = derivativeAtStartAndEnd c) f''(0) = 0, f''(1) = 0
Copyright (c) 2007
Company: IHMC
Constructor Summary | |
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StretchedSlowInMiddleAlphaToAlphaFunction(double derivativeAtStartAndEnd)
Create a StretchedSlowInMiddleAlphaToAlphaFunction given nSwing points and nBody points. |
Method Summary | |
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double |
getAlphaPrime(double alpha)
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double |
getDerivativeAtAlpha(double alpha)
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double |
getMaxAlpha()
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double |
getSecondDerivativeAtAlpha(double alpha)
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static void |
main(java.lang.String[] args)
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Methods inherited from class java.lang.Object |
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equals, getClass, hashCode, notify, notifyAll, toString, wait, wait, wait |
Constructor Detail |
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public StretchedSlowInMiddleAlphaToAlphaFunction(double derivativeAtStartAndEnd)
derivativeAtStartAndEnd
- The slope of alphaPrimeMethod Detail |
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public double getAlphaPrime(double alpha)
getAlphaPrime
in interface AlphaToAlphaFunction
public double getMaxAlpha()
getMaxAlpha
in interface AlphaToAlphaFunction
public double getDerivativeAtAlpha(double alpha)
getDerivativeAtAlpha
in interface AlphaToAlphaFunction
public double getSecondDerivativeAtAlpha(double alpha)
getSecondDerivativeAtAlpha
in interface AlphaToAlphaFunction
public static void main(java.lang.String[] args)
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