us.ihmc.utilities.math.alphaToAlpha
Class StretchedSlowInMiddleAlphaToAlphaFunction

java.lang.Object
  extended by us.ihmc.utilities.math.alphaToAlpha.StretchedSlowInMiddleAlphaToAlphaFunction
All Implemented Interfaces:
AlphaToAlphaFunction

public class StretchedSlowInMiddleAlphaToAlphaFunction
extends java.lang.Object
implements AlphaToAlphaFunction

StretchedSlowInMiddleAlphaToAlphaFunction

AlphaToAlphaFunction morphing that ensures: a) f(0) = 0, f(1) = 1, b) f'(0) = derivativeAtStartAndEnd, f'(1) = derivativeAtStartAndEnd c) f''(0) = 0, f''(1) = 0

Copyright (c) 2007

Company: IHMC

Version:
1.0
Author:
IHMC LearningLocomotion Team

Constructor Summary
StretchedSlowInMiddleAlphaToAlphaFunction(double derivativeAtStartAndEnd)
          Create a StretchedSlowInMiddleAlphaToAlphaFunction given nSwing points and nBody points.
 
Method Summary
 double getAlphaPrime(double alpha)
           
 double getDerivativeAtAlpha(double alpha)
           
 double getMaxAlpha()
           
 double getSecondDerivativeAtAlpha(double alpha)
           
static void main(java.lang.String[] args)
           
 
Methods inherited from class java.lang.Object
equals, getClass, hashCode, notify, notifyAll, toString, wait, wait, wait
 

Constructor Detail

StretchedSlowInMiddleAlphaToAlphaFunction

public StretchedSlowInMiddleAlphaToAlphaFunction(double derivativeAtStartAndEnd)
Create a StretchedSlowInMiddleAlphaToAlphaFunction given nSwing points and nBody points.

Parameters:
derivativeAtStartAndEnd - The slope of alphaPrime
Method Detail

getAlphaPrime

public double getAlphaPrime(double alpha)
Specified by:
getAlphaPrime in interface AlphaToAlphaFunction

getMaxAlpha

public double getMaxAlpha()
Specified by:
getMaxAlpha in interface AlphaToAlphaFunction

getDerivativeAtAlpha

public double getDerivativeAtAlpha(double alpha)
Specified by:
getDerivativeAtAlpha in interface AlphaToAlphaFunction

getSecondDerivativeAtAlpha

public double getSecondDerivativeAtAlpha(double alpha)
Specified by:
getSecondDerivativeAtAlpha in interface AlphaToAlphaFunction

main

public static void main(java.lang.String[] args)