us.ihmc.utilities.math.trajectories
Class Parabolic3dCurveGenerator

java.lang.Object
  extended by us.ihmc.utilities.math.trajectories.Parabolic3dCurveGenerator

public class Parabolic3dCurveGenerator
extends java.lang.Object

Title:

Description:

Copyright: Copyright (c) 2007

Company:

Version:
1.0
Author:
not attributable

Constructor Summary
Parabolic3dCurveGenerator()
           
 
Method Summary
static java.util.ArrayList<FramePoint> generate3dParabola(FramePoint startPoint, FramePoint endPoint, double apexOfParabola, int numberOfPointsToGenerate)
           
static java.util.ArrayList<javax.vecmath.Point3d> generate3dParabola(javax.vecmath.Point3d startPoint, javax.vecmath.Point3d endPoint, double apexOfParabola, int numberOfPointsToGenerate)
           
static ListOfPointsTrajectory generateParabolicListOfPointsTrajectory(FramePoint startPoint, FramePoint endPoint, double apexOfParabola, int numberOfPointsToGenerate)
          Parabolic3dGenerator gets start & end frame points in cartesian coordinate, and creates a z-splined trajectory as the output.
 
Methods inherited from class java.lang.Object
equals, getClass, hashCode, notify, notifyAll, toString, wait, wait, wait
 

Constructor Detail

Parabolic3dCurveGenerator

public Parabolic3dCurveGenerator()
Method Detail

generateParabolicListOfPointsTrajectory

public static ListOfPointsTrajectory generateParabolicListOfPointsTrajectory(FramePoint startPoint,
                                                                             FramePoint endPoint,
                                                                             double apexOfParabola,
                                                                             int numberOfPointsToGenerate)
Parabolic3dGenerator gets start & end frame points in cartesian coordinate, and creates a z-splined trajectory as the output.

Parameters:
startPoint - FramePoint = (xs,ys,zs)
endPoint - FramePoint = (xe,ye,ze)
apexOfParabola - double = h is equal to the difference in Z between start point and a point in half the way from start point and endpoint. 'apexOfParabola' should be greater than the difference in Z- components of start and end points.

generate3dParabola

public static java.util.ArrayList<FramePoint> generate3dParabola(FramePoint startPoint,
                                                                 FramePoint endPoint,
                                                                 double apexOfParabola,
                                                                 int numberOfPointsToGenerate)

generate3dParabola

public static java.util.ArrayList<javax.vecmath.Point3d> generate3dParabola(javax.vecmath.Point3d startPoint,
                                                                            javax.vecmath.Point3d endPoint,
                                                                            double apexOfParabola,
                                                                            int numberOfPointsToGenerate)