com.yobotics.simulationconstructionset.util.trajectory
Class AdjustableParabolicTrajectory

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

public class AdjustableParabolicTrajectory
extends ParabolicCartesianTrajectoryGenerator


Constructor Summary
AdjustableParabolicTrajectory(java.lang.String trajectoryName, YoVariableRegistry parentRegistry, DynamicGraphicObjectsListRegistry graphicsRegistry, FramePoint startPoint, FramePoint endPoint, double apexOfParabola, int numberOfStepsToVisualize, double stepTime)
           
AdjustableParabolicTrajectory(YoVariableRegistry parentRegistry, DynamicGraphicObjectsListRegistry graphicsRegistry, FramePoint startPoint, FramePoint endPoint, double apexOfParabola)
           
 
Method Summary
 void computeNextTick(FramePoint positionToPack, FrameVector velocityToPack, FrameVector accelerationToPack, double deltaT)
          Packs the new desired position, velocity and acceleration.
 FramePoint getEndPoint()
           
 void setApex(double newApex)
           
 void updateEndPoint(FramePoint newEndPoint)
           
 void updateStartPoint(FramePoint newStartPoint)
           
 
Methods inherited from class com.yobotics.simulationconstructionset.util.trajectory.ParabolicCartesianTrajectoryGenerator
compute, getCurrentGroundClearance, getFinalTime, getReferenceFrame, initialize, isDone, packAcceleration, packPosition, packVelocity, updateFinalDesiredPosition, updateGroundClearance
 
Methods inherited from class java.lang.Object
equals, getClass, hashCode, notify, notifyAll, toString, wait, wait, wait
 

Constructor Detail

AdjustableParabolicTrajectory

public AdjustableParabolicTrajectory(YoVariableRegistry parentRegistry,
                                     DynamicGraphicObjectsListRegistry graphicsRegistry,
                                     FramePoint startPoint,
                                     FramePoint endPoint,
                                     double apexOfParabola)

AdjustableParabolicTrajectory

public AdjustableParabolicTrajectory(java.lang.String trajectoryName,
                                     YoVariableRegistry parentRegistry,
                                     DynamicGraphicObjectsListRegistry graphicsRegistry,
                                     FramePoint startPoint,
                                     FramePoint endPoint,
                                     double apexOfParabola,
                                     int numberOfStepsToVisualize,
                                     double stepTime)
Method Detail

updateStartPoint

public void updateStartPoint(FramePoint newStartPoint)

updateEndPoint

public void updateEndPoint(FramePoint newEndPoint)

setApex

public void setApex(double newApex)

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
Overrides:
computeNextTick in class ParabolicCartesianTrajectoryGenerator
Parameters:
positionToPack - new desired position to pack
velocityToPack - new desired velocity to pack
accelerationToPack - new desired acceleration to pack
deltaT - time step

getEndPoint

public FramePoint getEndPoint()