com.yobotics.simulationconstructionset.util.trajectory
Class YoConcatenatedSplines

java.lang.Object
  extended by com.yobotics.simulationconstructionset.util.trajectory.YoConcatenatedSplines

public class YoConcatenatedSplines
extends java.lang.Object


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

Constructor Detail

YoConcatenatedSplines

public YoConcatenatedSplines(int[] numberOfCoefficientsPerPolynomial,
                             ReferenceFrame referenceFrame,
                             int arcLengthCalculatorDivisionsPerPolynomial,
                             YoVariableRegistry parentRegistry,
                             java.lang.String namePrefix)
Method Detail

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)