com.yobotics.simulationconstructionset.util.trajectory
Class ParabolicCartesianTrajectoryGenerator

java.lang.Object
  extended by com.yobotics.simulationconstructionset.util.trajectory.ParabolicCartesianTrajectoryGenerator
All Implemented Interfaces:
CartesianTrajectoryGenerator
Direct Known Subclasses:
AdjustableParabolicTrajectory

public class ParabolicCartesianTrajectoryGenerator
extends java.lang.Object
implements CartesianTrajectoryGenerator


Constructor Summary
ParabolicCartesianTrajectoryGenerator(java.lang.String namePrefix, ReferenceFrame referenceFrame, DoubleProvider stepTimeProvider, double groundClearance, YoVariableRegistry parentRegistry)
           
 
Method Summary
 void compute(double time)
           
 void computeNextTick(FramePoint positionToPack, FrameVector velocityToPack, FrameVector accelerationToPack, double deltaT)
          Packs the new desired position, velocity and acceleration.
 double getCurrentGroundClearance()
           
 double getFinalTime()
           
 ReferenceFrame getReferenceFrame()
           
 void initialize(FramePoint initialPosition, FrameVector initialVelocity, FrameVector initialAcceleration, FramePoint finalDesiredPosition, FrameVector finalDesiredVelocity)
          initializes the trajectory generator with an initial position and velocity, final position and ground height.
 boolean isDone()
           
 void packAcceleration(FrameVector accelerationToPack)
           
 void packPosition(FramePoint positionToPack)
           
 void packVelocity(FrameVector velocityToPack)
           
 void updateFinalDesiredPosition(FramePoint finalDesiredPosition)
          Changes the final desired position for the trajectory
 void updateGroundClearance(double newGroundClearance)
           
 
Methods inherited from class java.lang.Object
equals, getClass, hashCode, notify, notifyAll, toString, wait, wait, wait
 

Constructor Detail

ParabolicCartesianTrajectoryGenerator

public ParabolicCartesianTrajectoryGenerator(java.lang.String namePrefix,
                                             ReferenceFrame referenceFrame,
                                             DoubleProvider stepTimeProvider,
                                             double groundClearance,
                                             YoVariableRegistry parentRegistry)
Method Detail

initialize

public void initialize(FramePoint initialPosition,
                       FrameVector initialVelocity,
                       FrameVector initialAcceleration,
                       FramePoint finalDesiredPosition,
                       FrameVector finalDesiredVelocity)
Description copied from interface: CartesianTrajectoryGenerator
initializes the trajectory generator with an initial position and velocity, final position and ground height.

Specified by:
initialize in interface CartesianTrajectoryGenerator
Parameters:
initialPosition - initial position of the trajectory
initialVelocity - initial velocity of the trajectory
initialAcceleration - initial acceleration of the trajectory
finalDesiredPosition - final desired position of the trajectory (can be updated using updateFinalDesiredPosition later)
finalDesiredVelocity - final desired velocity of the trajectory

computeNextTick

public void computeNextTick(FramePoint positionToPack,
                            FrameVector velocityToPack,
                            FrameVector accelerationToPack,
                            double deltaT)
Description copied from interface: CartesianTrajectoryGenerator
Packs the new desired position, velocity and acceleration.

Specified by:
computeNextTick in interface CartesianTrajectoryGenerator
Parameters:
positionToPack - new desired position to pack
velocityToPack - new desired velocity to pack
accelerationToPack - new desired acceleration to pack
deltaT - time step

updateFinalDesiredPosition

public void updateFinalDesiredPosition(FramePoint finalDesiredPosition)
Description copied from interface: CartesianTrajectoryGenerator
Changes the final desired position for the trajectory

Specified by:
updateFinalDesiredPosition in interface CartesianTrajectoryGenerator
Parameters:
finalDesiredPosition - the new final desired position

getReferenceFrame

public ReferenceFrame getReferenceFrame()
Specified by:
getReferenceFrame in interface CartesianTrajectoryGenerator

isDone

public boolean isDone()
Specified by:
isDone in interface CartesianTrajectoryGenerator

getFinalTime

public double getFinalTime()
Specified by:
getFinalTime in interface CartesianTrajectoryGenerator

updateGroundClearance

public void updateGroundClearance(double newGroundClearance)

getCurrentGroundClearance

public double getCurrentGroundClearance()

packPosition

public void packPosition(FramePoint positionToPack)

packVelocity

public void packVelocity(FrameVector velocityToPack)

packAcceleration

public void packAcceleration(FrameVector accelerationToPack)

compute

public void compute(double time)