com.yobotics.simulationconstructionset.util.trajectory
Class ParabolicPositionTrajectoryGenerator

java.lang.Object
  extended by com.yobotics.simulationconstructionset.util.trajectory.ParabolicPositionTrajectoryGenerator
All Implemented Interfaces:
Finishable, PositionProvider, PositionTrajectoryGenerator, TrajectoryGenerator

public class ParabolicPositionTrajectoryGenerator
extends java.lang.Object
implements PositionTrajectoryGenerator


Constructor Summary
ParabolicPositionTrajectoryGenerator(java.lang.String namePrefix, ReferenceFrame referenceFrame, DoubleProvider stepTimeProvider, PositionProvider initialPositionProvider, PositionProvider finalPositionProvider, double groundClearance, YoVariableRegistry parentRegistry)
           
 
Method Summary
 void compute(double time)
           
 void computeNextTick(FramePoint positionToPack, FrameVector velocityToPack, FrameVector accelerationToPack, double deltaT)
           
 void get(FramePoint positionToPack)
           
 double getCurrentGroundClearance()
           
 double getFinalTime()
           
 ReferenceFrame getReferenceFrame()
           
 void initialize()
           
 boolean isDone()
           
 void packAcceleration(FrameVector accelerationToPack)
           
 void packVelocity(FrameVector velocityToPack)
           
 void updateFinalDesiredPosition(FramePoint finalDesiredPosition)
           
 void updateGroundClearance(double newGroundClearance)
           
 
Methods inherited from class java.lang.Object
equals, getClass, hashCode, notify, notifyAll, toString, wait, wait, wait
 

Constructor Detail

ParabolicPositionTrajectoryGenerator

public ParabolicPositionTrajectoryGenerator(java.lang.String namePrefix,
                                            ReferenceFrame referenceFrame,
                                            DoubleProvider stepTimeProvider,
                                            PositionProvider initialPositionProvider,
                                            PositionProvider finalPositionProvider,
                                            double groundClearance,
                                            YoVariableRegistry parentRegistry)
Method Detail

computeNextTick

public void computeNextTick(FramePoint positionToPack,
                            FrameVector velocityToPack,
                            FrameVector accelerationToPack,
                            double deltaT)

updateFinalDesiredPosition

public void updateFinalDesiredPosition(FramePoint finalDesiredPosition)

getReferenceFrame

public ReferenceFrame getReferenceFrame()

isDone

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

getFinalTime

public double getFinalTime()

updateGroundClearance

public void updateGroundClearance(double newGroundClearance)

getCurrentGroundClearance

public double getCurrentGroundClearance()

get

public void get(FramePoint positionToPack)
Specified by:
get in interface PositionProvider

packVelocity

public void packVelocity(FrameVector velocityToPack)
Specified by:
packVelocity in interface PositionTrajectoryGenerator

packAcceleration

public void packAcceleration(FrameVector accelerationToPack)
Specified by:
packAcceleration in interface PositionTrajectoryGenerator

initialize

public void initialize()
Specified by:
initialize in interface TrajectoryGenerator

compute

public void compute(double time)
Specified by:
compute in interface TrajectoryGenerator