us.ihmc.utilities.math.trajectories
Class CubicSplineCurveGenerator

java.lang.Object
  extended by us.ihmc.utilities.math.trajectories.CubicSplineCurveGenerator
All Implemented Interfaces:
CurveGenerator

public class CubicSplineCurveGenerator
extends java.lang.Object
implements CurveGenerator

Title:

Description:

Copyright: Copyright (c) 2007

Company:

Version:
1.0
Author:
not attributable

Constructor Summary
CubicSplineCurveGenerator(java.util.ArrayList<javax.vecmath.Point2d> points)
           
CubicSplineCurveGenerator(double[] points)
           
CubicSplineCurveGenerator(javax.vecmath.Point2d[] points)
           
 
Method Summary
 javax.vecmath.Point2d[] getArrayOfPoints(int numberOfPointsToReturn)
           
 double getDerivative(double xValue)
           
 javax.vecmath.Point2d getPointGivenX(double xValue)
           
 double getXmax()
           
 double getXmin()
           
static void main(java.lang.String[] args)
           
 void resetFirstDerivatives()
           
 void setArrayOfPoints(javax.vecmath.Point2d[] newArrayOfPoints)
           
 void setStartAndEndDerivatives(double startFirstDerivative, double endFirstDerivative)
           
 
Methods inherited from class java.lang.Object
equals, getClass, hashCode, notify, notifyAll, toString, wait, wait, wait
 

Constructor Detail

CubicSplineCurveGenerator

public CubicSplineCurveGenerator(javax.vecmath.Point2d[] points)

CubicSplineCurveGenerator

public CubicSplineCurveGenerator(java.util.ArrayList<javax.vecmath.Point2d> points)

CubicSplineCurveGenerator

public CubicSplineCurveGenerator(double[] points)
Method Detail

setStartAndEndDerivatives

public void setStartAndEndDerivatives(double startFirstDerivative,
                                      double endFirstDerivative)

resetFirstDerivatives

public void resetFirstDerivatives()

getPointGivenX

public javax.vecmath.Point2d getPointGivenX(double xValue)
Specified by:
getPointGivenX in interface CurveGenerator

getDerivative

public double getDerivative(double xValue)
Specified by:
getDerivative in interface CurveGenerator

getXmin

public double getXmin()
Specified by:
getXmin in interface CurveGenerator

getXmax

public double getXmax()
Specified by:
getXmax in interface CurveGenerator

getArrayOfPoints

public javax.vecmath.Point2d[] getArrayOfPoints(int numberOfPointsToReturn)
Specified by:
getArrayOfPoints in interface CurveGenerator

setArrayOfPoints

public void setArrayOfPoints(javax.vecmath.Point2d[] newArrayOfPoints)
Specified by:
setArrayOfPoints in interface CurveGenerator

main

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