us.ihmc.utilities.math.alphaToAlpha
Class StretchedSlowInMiddleAlphaToAlphaFunction

java.lang.Object
  us.ihmc.utilities.math.alphaToAlpha.StretchedSlowInMiddleAlphaToAlphaFunction

All Implemented Interfaces:

AlphaToAlphaFunction

public class StretchedSlowInMiddleAlphaToAlphaFunction
extends java.lang.Object
implements AlphaToAlphaFunction

StretchedSlowInMiddleAlphaToAlphaFunction

AlphaToAlphaFunction morphing that ensures: a) f(0) = 0, f(1) = 1, b) f'(0) = derivativeAtStartAndEnd, f'(1) = derivativeAtStartAndEnd c) f''(0) = 0, f''(1) = 0

Copyright (c) 2007

Company: IHMC

Version:

1.0

Author:

IHMC LearningLocomotion Team

Constructor Summary

StretchedSlowInMiddleAlphaToAlphaFunction(double derivativeAtStartAndEnd)
Create a StretchedSlowInMiddleAlphaToAlphaFunction given nSwing points and nBody points.

Method Summary

double	getAlphaPrime(double alpha)
double	getDerivativeAtAlpha(double alpha)
double	getMaxAlpha()
double	getSecondDerivativeAtAlpha(double alpha)
static void	main(java.lang.String[] args)

Methods inherited from class java.lang.Object

equals, getClass, hashCode, notify, notifyAll, toString, wait, wait, wait

Constructor Detail

StretchedSlowInMiddleAlphaToAlphaFunction

public StretchedSlowInMiddleAlphaToAlphaFunction(double derivativeAtStartAndEnd)

Create a StretchedSlowInMiddleAlphaToAlphaFunction given nSwing points and nBody points.

Parameters:

derivativeAtStartAndEnd - The slope of alphaPrime

Method Detail

getAlphaPrime

public double getAlphaPrime(double alpha)

Specified by:

getAlphaPrime in interface AlphaToAlphaFunction

getMaxAlpha

public double getMaxAlpha()

Specified by:

getMaxAlpha in interface AlphaToAlphaFunction

getDerivativeAtAlpha

public double getDerivativeAtAlpha(double alpha)

Specified by:

getDerivativeAtAlpha in interface AlphaToAlphaFunction

getSecondDerivativeAtAlpha

public double getSecondDerivativeAtAlpha(double alpha)

Specified by:

getSecondDerivativeAtAlpha in interface AlphaToAlphaFunction

main

public static void main(java.lang.String[] args)