us.ihmc.utilities.math.overheadPath
Class StraightLineOverheadPath
java.lang.Object
us.ihmc.utilities.math.overheadPath.StraightLineOverheadPath
- All Implemented Interfaces:
- ReferenceFrameHolder, OverheadPath
public class StraightLineOverheadPath
- extends java.lang.Object
- implements OverheadPath
Methods inherited from class java.lang.Object |
equals, getClass, hashCode, notify, notifyAll, toString, wait, wait, wait |
StraightLineOverheadPath
public StraightLineOverheadPath(FramePose2d startPose,
FramePoint2d endPosition)
getPoseAtS
public FramePose2d getPoseAtS(double pathVariableS)
- Specified by:
getPoseAtS
in interface OverheadPath
getDeltaS
public double getDeltaS(double pathVariableS,
double stepSize)
checkReferenceFrameMatch
public void checkReferenceFrameMatch(ReferenceFrameHolder referenceFrameHolder)
- Specified by:
checkReferenceFrameMatch
in interface ReferenceFrameHolder
checkReferenceFrameMatch
public void checkReferenceFrameMatch(ReferenceFrame frame)
throws ReferenceFrameMismatchException
- Specified by:
checkReferenceFrameMatch
in interface ReferenceFrameHolder
- Throws:
ReferenceFrameMismatchException
getReferenceFrame
public ReferenceFrame getReferenceFrame()
- Specified by:
getReferenceFrame
in interface ReferenceFrameHolder
changeFrameCopy
public StraightLineOverheadPath changeFrameCopy(ReferenceFrame desiredFrame)
- Specified by:
changeFrameCopy
in interface ReferenceFrameHolder
- Specified by:
changeFrameCopy
in interface OverheadPath
getDistance
public double getDistance()