us.ihmc.utilities.math.overheadPath
Class StraightLineOverheadPath

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

public class StraightLineOverheadPath
extends java.lang.Object
implements OverheadPath


Constructor Summary
StraightLineOverheadPath(FramePose2d startPose, FramePoint2d endPosition)
           
 
Method Summary
 StraightLineOverheadPath changeFrameCopy(ReferenceFrame desiredFrame)
           
 void checkReferenceFrameMatch(ReferenceFrame frame)
           
 void checkReferenceFrameMatch(ReferenceFrameHolder referenceFrameHolder)
           
 double getDeltaS(double pathVariableS, double stepSize)
           
 double getDistance()
           
 FramePose2d getPoseAtS(double pathVariableS)
           
 ReferenceFrame getReferenceFrame()
           
 
Methods inherited from class java.lang.Object
equals, getClass, hashCode, notify, notifyAll, toString, wait, wait, wait
 

Constructor Detail

StraightLineOverheadPath

public StraightLineOverheadPath(FramePose2d startPose,
                                FramePoint2d endPosition)
Method Detail

getPoseAtS

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

getDeltaS

public double getDeltaS(double pathVariableS,
                        double stepSize)

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

getDistance

public double getDistance()