com.yobotics.simulationconstructionset.util.trajectory
Class ParabolicPositionTrajectoryGenerator
java.lang.Object
com.yobotics.simulationconstructionset.util.trajectory.ParabolicPositionTrajectoryGenerator
- All Implemented Interfaces:
- Finishable, PositionProvider, PositionTrajectoryGenerator, TrajectoryGenerator
public class ParabolicPositionTrajectoryGenerator
- extends java.lang.Object
- implements PositionTrajectoryGenerator
Methods inherited from class java.lang.Object |
equals, getClass, hashCode, notify, notifyAll, toString, wait, wait, wait |
ParabolicPositionTrajectoryGenerator
public ParabolicPositionTrajectoryGenerator(java.lang.String namePrefix,
ReferenceFrame referenceFrame,
DoubleProvider stepTimeProvider,
PositionProvider initialPositionProvider,
PositionProvider finalPositionProvider,
double groundClearance,
YoVariableRegistry parentRegistry)
computeNextTick
public void computeNextTick(FramePoint positionToPack,
FrameVector velocityToPack,
FrameVector accelerationToPack,
double deltaT)
updateFinalDesiredPosition
public void updateFinalDesiredPosition(FramePoint finalDesiredPosition)
getReferenceFrame
public ReferenceFrame getReferenceFrame()
isDone
public boolean isDone()
- Specified by:
isDone
in interface Finishable
getFinalTime
public double getFinalTime()
updateGroundClearance
public void updateGroundClearance(double newGroundClearance)
getCurrentGroundClearance
public double getCurrentGroundClearance()
get
public void get(FramePoint positionToPack)
- Specified by:
get
in interface PositionProvider
packVelocity
public void packVelocity(FrameVector velocityToPack)
- Specified by:
packVelocity
in interface PositionTrajectoryGenerator
packAcceleration
public void packAcceleration(FrameVector accelerationToPack)
- Specified by:
packAcceleration
in interface PositionTrajectoryGenerator
initialize
public void initialize()
- Specified by:
initialize
in interface TrajectoryGenerator
compute
public void compute(double time)
- Specified by:
compute
in interface TrajectoryGenerator