us.ihmc.utilities.math.trajectories
Class WaypointMotionGenerator

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

public class WaypointMotionGenerator
extends java.lang.Object


Constructor Summary
WaypointMotionGenerator()
           
WaypointMotionGenerator(ListOfPointsTrajectory listOfPointsTrajectory, double moveDuration)
           
WaypointMotionGenerator(ListOfPointsTrajectory listOfPointsTrajectory, double moveDuration, double initialVelocity, double initialAcceleration, double finalVelocity, double finalAcceleration)
           
 
Method Summary
 FrameVector getCurrentDesiredAcceleration(double timeInMove)
           
 FramePoint getCurrentDesiredPoint(double timeInMove)
           
 FrameVector getCurrentDesiredVelocity(double timeInMove)
           
 void initialize(ListOfPointsTrajectory listOfPointsTrajectory, double moveDuration)
           
 void initialize(ListOfPointsTrajectory listOfPointsTrajectory, double moveDuration, double initialVelocity, double initialAcceleration, double finalVelocity, double finalAcceleration)
           
 void setStepSizeforNumericalCalculation(double stepSize)
           
 
Methods inherited from class java.lang.Object
equals, getClass, hashCode, notify, notifyAll, toString, wait, wait, wait
 

Constructor Detail

WaypointMotionGenerator

public WaypointMotionGenerator()

WaypointMotionGenerator

public WaypointMotionGenerator(ListOfPointsTrajectory listOfPointsTrajectory,
                               double moveDuration)

WaypointMotionGenerator

public WaypointMotionGenerator(ListOfPointsTrajectory listOfPointsTrajectory,
                               double moveDuration,
                               double initialVelocity,
                               double initialAcceleration,
                               double finalVelocity,
                               double finalAcceleration)
Method Detail

initialize

public void initialize(ListOfPointsTrajectory listOfPointsTrajectory,
                       double moveDuration)

initialize

public void initialize(ListOfPointsTrajectory listOfPointsTrajectory,
                       double moveDuration,
                       double initialVelocity,
                       double initialAcceleration,
                       double finalVelocity,
                       double finalAcceleration)

getCurrentDesiredPoint

public FramePoint getCurrentDesiredPoint(double timeInMove)

getCurrentDesiredVelocity

public FrameVector getCurrentDesiredVelocity(double timeInMove)

getCurrentDesiredAcceleration

public FrameVector getCurrentDesiredAcceleration(double timeInMove)

setStepSizeforNumericalCalculation

public void setStepSizeforNumericalCalculation(double stepSize)