us.ihmc.utilities.math.trajectories
Class TrapezoidalVelocityTrajectory
java.lang.Object
us.ihmc.utilities.math.trajectories.TrapezoidalVelocityTrajectory
public class TrapezoidalVelocityTrajectory
- extends java.lang.Object
Constructor Summary |
TrapezoidalVelocityTrajectory(double t0,
double x0,
double xF,
double v0,
double vF,
double vMax,
double aMax)
|
TrapezoidalVelocityTrajectory(double t0,
double x0,
double xF,
double v0,
double vF,
double vMax,
double aMax,
boolean enforceFinalVelocity)
|
TrapezoidalVelocityTrajectory(TrapezoidalVelocityTrajectory trapezoidalVelocityTrajectory)
|
Methods inherited from class java.lang.Object |
equals, getClass, hashCode, notify, notifyAll, wait, wait, wait |
TrapezoidalVelocityTrajectory
public TrapezoidalVelocityTrajectory(TrapezoidalVelocityTrajectory trapezoidalVelocityTrajectory)
TrapezoidalVelocityTrajectory
public TrapezoidalVelocityTrajectory(double t0,
double x0,
double xF,
double v0,
double vF,
double vMax,
double aMax)
TrapezoidalVelocityTrajectory
public TrapezoidalVelocityTrajectory(double t0,
double x0,
double xF,
double v0,
double vF,
double vMax,
double aMax,
boolean enforceFinalVelocity)
getPosition
public double getPosition(double t)
getVelocity
public double getVelocity(double t)
getAcceleration
public double getAcceleration(double t)
getState
public double[] getState(double t)
getDT1
public double getDT1()
getDT2
public double getDT2()
getMoveDuration
public double getMoveDuration()
getMaximumVelocity
public double getMaximumVelocity()
getMaximumAcceleration
public double getMaximumAcceleration()
getT0
public double getT0()
getT1
public double getT1()
getT2
public double getT2()
getFinalTime
public double getFinalTime()
getX0
public double getX0()
getV0
public double getV0()
getVMax
public double getVMax()
getAMax
public double getAMax()
getEpsilon
public double getEpsilon()
getTFMax
public static double getTFMax(TrapezoidalVelocityTrajectory[] trajectories)
toString
public java.lang.String toString()
- Overrides:
toString
in class java.lang.Object
findErrorConditions
public static void findErrorConditions()
testBadCase
public static void testBadCase()
main
public static void main(java.lang.String[] args)