com.yobotics.simulationconstructionset.util.trajectory
Class YoConcatenatedSplines
java.lang.Object
com.yobotics.simulationconstructionset.util.trajectory.YoConcatenatedSplines
public class YoConcatenatedSplines
- extends java.lang.Object
Method Summary |
double |
approximateTimeFromArcLength(double arcLength)
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void |
compute(double t)
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FrameVector |
getAcceleration()
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double |
getArcLength()
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int |
getNumberOfSplines()
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FramePoint |
getPosition()
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YoSpline3D |
getSplineByIndex(int i)
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double |
getT0()
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double |
getTf()
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FrameVector |
getVelocity()
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void |
setCubicLinearQuinticLinearCubic(double[] fixedPointTimes,
FramePoint[] fixedPointPositions,
FrameVector[] fixedPointVelocities,
double[] intermediateTimes)
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void |
setCubicQuarticQuinticCubic(double[] times,
FramePoint[] positions,
FrameVector[] velocities)
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void |
setCubicQuarticQuinticQuarticCubic(double[] times,
FramePoint[] positions,
FrameVector[] velocities)
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void |
setCubicQuinticCubic(double[] times,
FramePoint[] positions,
FrameVector[] velocities)
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void |
setQuadraticQuinticQuadratic(double[] times,
FramePoint[] positions,
FrameVector initialVelocity,
FrameVector finalVelocity)
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void |
setQuarticLinearQuinticLinearQuartic(double[] fixedPointTimes,
FramePoint[] fixedPointPositions,
FrameVector[] fixedPointVelocities,
double[] intermediateTimes)
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void |
setQuarticQuinticQuartic(double[] times,
FramePoint[] positions,
FrameVector[] velocities,
double[] intermediateTimes,
FrameVector[] intermediateVelocities)
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void |
setQuintics(double[] times,
FramePoint[] positions,
FrameVector[] velocities,
FrameVector[] accelerations)
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void |
setQuintics(YoConcatenatedSplines oldSplines,
double[] oldTimes,
double[] newTimes)
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void |
setQuinticSexticQuinticUsingWaypointAndIntermediateVeloctiesAndAccelerations(double[] times,
FramePoint[] positions,
FrameVector[] velocities,
double ghostTime,
FramePoint ghostWaypoint,
double[] intermediateTimes,
FrameVector[] intermediateVelocities,
FrameVector[] intermediateAccelerations)
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void |
setQuinticsUsingIntermediateVeloctiesAndAccelerations(double[] times,
FramePoint[] positions,
FrameVector[] velocities,
double[] intermediateTimes,
FrameVector[] intermediateVelocities,
FrameVector[] intermediateAccelerations)
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void |
setSexticQuinticSexticUsingIntermediateVelocitiesAndAccelerations(double[] times,
FramePoint[] positions,
FrameVector[] velocities,
FrameVector[] waypointAccelerations,
double[] intermediateTimes,
FrameVector[] intermediateVelocities,
FrameVector[] intermediateAccelerations)
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Methods inherited from class java.lang.Object |
equals, getClass, hashCode, notify, notifyAll, toString, wait, wait, wait |
YoConcatenatedSplines
public YoConcatenatedSplines(int[] numberOfCoefficientsPerPolynomial,
ReferenceFrame referenceFrame,
int arcLengthCalculatorDivisionsPerPolynomial,
YoVariableRegistry parentRegistry,
java.lang.String namePrefix)
setQuadraticQuinticQuadratic
public void setQuadraticQuinticQuadratic(double[] times,
FramePoint[] positions,
FrameVector initialVelocity,
FrameVector finalVelocity)
setCubicLinearQuinticLinearCubic
public void setCubicLinearQuinticLinearCubic(double[] fixedPointTimes,
FramePoint[] fixedPointPositions,
FrameVector[] fixedPointVelocities,
double[] intermediateTimes)
setQuarticLinearQuinticLinearQuartic
public void setQuarticLinearQuinticLinearQuartic(double[] fixedPointTimes,
FramePoint[] fixedPointPositions,
FrameVector[] fixedPointVelocities,
double[] intermediateTimes)
setCubicQuarticQuinticCubic
public void setCubicQuarticQuinticCubic(double[] times,
FramePoint[] positions,
FrameVector[] velocities)
setCubicQuarticQuinticQuarticCubic
public void setCubicQuarticQuinticQuarticCubic(double[] times,
FramePoint[] positions,
FrameVector[] velocities)
setCubicQuinticCubic
public void setCubicQuinticCubic(double[] times,
FramePoint[] positions,
FrameVector[] velocities)
setQuarticQuinticQuartic
public void setQuarticQuinticQuartic(double[] times,
FramePoint[] positions,
FrameVector[] velocities,
double[] intermediateTimes,
FrameVector[] intermediateVelocities)
setQuinticsUsingIntermediateVeloctiesAndAccelerations
public void setQuinticsUsingIntermediateVeloctiesAndAccelerations(double[] times,
FramePoint[] positions,
FrameVector[] velocities,
double[] intermediateTimes,
FrameVector[] intermediateVelocities,
FrameVector[] intermediateAccelerations)
setQuinticSexticQuinticUsingWaypointAndIntermediateVeloctiesAndAccelerations
public void setQuinticSexticQuinticUsingWaypointAndIntermediateVeloctiesAndAccelerations(double[] times,
FramePoint[] positions,
FrameVector[] velocities,
double ghostTime,
FramePoint ghostWaypoint,
double[] intermediateTimes,
FrameVector[] intermediateVelocities,
FrameVector[] intermediateAccelerations)
setSexticQuinticSexticUsingIntermediateVelocitiesAndAccelerations
public void setSexticQuinticSexticUsingIntermediateVelocitiesAndAccelerations(double[] times,
FramePoint[] positions,
FrameVector[] velocities,
FrameVector[] waypointAccelerations,
double[] intermediateTimes,
FrameVector[] intermediateVelocities,
FrameVector[] intermediateAccelerations)
setQuintics
public void setQuintics(double[] times,
FramePoint[] positions,
FrameVector[] velocities,
FrameVector[] accelerations)
setQuintics
public void setQuintics(YoConcatenatedSplines oldSplines,
double[] oldTimes,
double[] newTimes)
approximateTimeFromArcLength
public double approximateTimeFromArcLength(double arcLength)
compute
public void compute(double t)
getPosition
public FramePoint getPosition()
getVelocity
public FrameVector getVelocity()
getAcceleration
public FrameVector getAcceleration()
getT0
public double getT0()
getTf
public double getTf()
getArcLength
public double getArcLength()
getNumberOfSplines
public int getNumberOfSplines()
getSplineByIndex
public YoSpline3D getSplineByIndex(int i)