org.cogchar.animoid.calc.curve

Class ConstAccelCurve<RN extends org.jscience.mathematics.number.Number<RN>>

java.lang.Object

org.cogchar.animoid.calc.curve.PolynomialMotionCurve<ConstAccelCurveStateVarSymbol,RN>

org.cogchar.animoid.calc.curve.ConstAccelCurve<RN>

Type Parameters:

RN -

public class ConstAccelCurve<RN extends org.jscience.mathematics.number.Number<RN>>
extends PolynomialMotionCurve<ConstAccelCurveStateVarSymbol,RN>

This second-order (parabolic + linear) curve is parametrized by and differentiable in 4 variables: TimeOffset ConstAccel InitPos InitVel "Init" values are at timeOffset=0.

Author:

Stu B.

Field Summary

Fields inherited from class org.cogchar.animoid.calc.curve.PolynomialMotionCurve

myCurvePoly, myStateVars, mySymbolSuffix

Constructor Summary

Constructors

Constructor and Description
ConstAccelCurve(String symbolSuffix, org.appdapter.bind.math.jscience.number.NumberFactory<RN> numFact)
ConstAccelCurve(String symbolSuffix, org.jscience.mathematics.function.Variable<RN> offsetTimeVar, org.appdapter.bind.math.jscience.number.NumberFactory<RN> numFact) In this form, the timeOffset variable is supplied externally so that it may easily be shared among other curves.

Method Summary

Methods

Modifier and Type	Method and Description
void	configureWithDoubles(double timeOffset, double constAccel, double initPos, double initVel)
RN	getAccelAtCurrentState()
org.jscience.mathematics.function.Polynomial<RN>	getAccelCurve()
RN	getPositionAtCurrentState()
RN	getTimeOffsetAtCurrentState()
RN	getVelocityAtCurrentState()
org.jscience.mathematics.function.Polynomial<RN>	getVelocityCurve()
RN	makeNumber(double dval)
void	setConstAccel(RN constAccel)
void	setInitPosition(RN initPos)
void	setInitVelocity(RN initVel)
void	setTimeOffset(RN timeOffset)

Methods inherited from class org.cogchar.animoid.calc.curve.PolynomialMotionCurve

evalCurvePolyAtCurrentState, evalDerivPolyAtCurrentState, getCurvePoly, getDerivativeStateFrame, getDerivPolyForStateVarSymbol, getFiniteTimeCurve, getFullSymbolStringForStateVar, getPolyVar, getStateFrame, getStateVariable, getStateVarVal, makeOutputDerivativeNormPoly, readStateFromFrame, setCurvePoly, setStateVarVal, useExistingPolyVar

Methods inherited from class java.lang.Object

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

Constructor Detail

ConstAccelCurve

public ConstAccelCurve(String symbolSuffix,
               org.jscience.mathematics.function.Variable<RN> offsetTimeVar,
               org.appdapter.bind.math.jscience.number.NumberFactory<RN> numFact)

In this form, the timeOffset variable is supplied externally so that it may easily be shared among other curves. This sharing is important when polynomials over this curve are combined with polynomials over curves on the same time segment, as it allows like terms to be combined symbolically.

Parameters:

symbolSuffix -

offsetTimeVar -

ConstAccelCurve

public ConstAccelCurve(String symbolSuffix,
               org.appdapter.bind.math.jscience.number.NumberFactory<RN> numFact)

Method Detail

getVelocityCurve

public org.jscience.mathematics.function.Polynomial<RN> getVelocityCurve()

getAccelCurve

public org.jscience.mathematics.function.Polynomial<RN> getAccelCurve()

getVelocityAtCurrentState

public RN getVelocityAtCurrentState()

getPositionAtCurrentState

public RN getPositionAtCurrentState()

getAccelAtCurrentState

public RN getAccelAtCurrentState()

getTimeOffsetAtCurrentState

public RN getTimeOffsetAtCurrentState()

setInitPosition

public void setInitPosition(RN initPos)

setInitVelocity

public void setInitVelocity(RN initVel)

setConstAccel

public void setConstAccel(RN constAccel)

setTimeOffset

public void setTimeOffset(RN timeOffset)

makeNumber

public RN makeNumber(double dval)

configureWithDoubles

public void configureWithDoubles(double timeOffset,
                        double constAccel,
                        double initPos,
                        double initVel)