us.ihmc.utilities.math.overheadPath
Class TurningOverheadPath

java.lang.Object
  extended by us.ihmc.utilities.math.overheadPath.TurningOverheadPath
All Implemented Interfaces:
ReferenceFrameHolder, OverheadPath

public class TurningOverheadPath
extends java.lang.Object
implements OverheadPath


Constructor Summary
TurningOverheadPath(FramePose2d startPose, FrameOrientation2d endOrientation)
           
 
Method Summary
 TurningOverheadPath changeFrameCopy(ReferenceFrame desiredFrame)
           
 void checkReferenceFrameMatch(ReferenceFrame frame)
           
 void checkReferenceFrameMatch(ReferenceFrameHolder referenceFrameHolder)
           
 double getDeltaS(double pathVariableS, double angleAllowance)
           
 double getDeltaYaw()
           
 FramePose2d getPoseAtS(double pathVariableS)
           
 ReferenceFrame getReferenceFrame()
           
 
Methods inherited from class java.lang.Object
equals, getClass, hashCode, notify, notifyAll, toString, wait, wait, wait
 

Constructor Detail

TurningOverheadPath

public TurningOverheadPath(FramePose2d startPose,
                           FrameOrientation2d endOrientation)
Method Detail

getDeltaYaw

public double getDeltaYaw()

getPoseAtS

public FramePose2d getPoseAtS(double pathVariableS)
Specified by:
getPoseAtS in interface OverheadPath

getDeltaS

public double getDeltaS(double pathVariableS,
                        double angleAllowance)

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 TurningOverheadPath changeFrameCopy(ReferenceFrame desiredFrame)
Specified by:
changeFrameCopy in interface ReferenceFrameHolder
Specified by:
changeFrameCopy in interface OverheadPath