com.yobotics.simulationconstructionset.util.trajectory
Class MinimumJerkTrajectory

java.lang.Object
  com.yobotics.simulationconstructionset.util.trajectory.MinimumJerkTrajectory

public class MinimumJerkTrajectory
extends java.lang.Object

Field Summary

double	acc
double	pos
double	vel

Constructor Summary

MinimumJerkTrajectory(java.lang.String name, YoVariableRegistry registry)

Method Summary

void	computeTrajectory(double t)
void	computeTrajectory(double t, YoVariable pos)
void	computeTrajectory(double t, YoVariable pos, YoVariable vel)
void	computeTrajectory(double t, YoVariable pos, YoVariable vel, YoVariable acc)
void	computeTrajectoryDoubles(double t, double[] vals)
double	getAcceleration()
double	getPosition()
double	getVelocity()
void	setParams(double X0, double V0, double A0, double Xf, double Vf, double Af, double T0, double Tf)

Methods inherited from class java.lang.Object

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

Field Detail

pos

public double pos

vel

public double vel

acc

public double acc

Constructor Detail

MinimumJerkTrajectory

public MinimumJerkTrajectory(java.lang.String name,
                             YoVariableRegistry registry)

Method Detail

getPosition

public double getPosition()

getVelocity

public double getVelocity()

getAcceleration

public double getAcceleration()

setParams

public void setParams(double X0,
                      double V0,
                      double A0,
                      double Xf,
                      double Vf,
                      double Af,
                      double T0,
                      double Tf)

computeTrajectoryDoubles

public void computeTrajectoryDoubles(double t,
                                     double[] vals)

computeTrajectory

public void computeTrajectory(double t,
                              YoVariable pos)

computeTrajectory

public void computeTrajectory(double t,
                              YoVariable pos,
                              YoVariable vel)

computeTrajectory

public void computeTrajectory(double t,
                              YoVariable pos,
                              YoVariable vel,
                              YoVariable acc)

computeTrajectory

public void computeTrajectory(double t)