org.cogchar.animoid.calc.curve

Class PolynomialMotionCurve<StateVarSymbol extends StateVariableSymbol,RN extends org.jscience.mathematics.number.Number<RN>>

java.lang.Object

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

Type Parameters:

StateVarSymbol -

RN -

Direct Known Subclasses:

ConstAccelCurve

public class PolynomialMotionCurve<StateVarSymbol extends StateVariableSymbol,RN extends org.jscience.mathematics.number.Number<RN>>
extends Object

This curve is a function of any number of variables, but it must specifically be differentiable in one well-known variable for each StateVarSymbol value. These known variables are called the StateVariables, and we hold a JScience Variable reference and a derivative polynomial for each one.

Author:

Stu B.

Field Summary

Fields

Modifier and Type	Field and Description
protected org.jscience.mathematics.function.Polynomial<RN>	myCurvePoly
protected List<PMC_StateVariable<StateVarSymbol,RN>>	myStateVars
protected String	mySymbolSuffix

Constructor Summary

Constructors

Constructor and Description
PolynomialMotionCurve(String symbolSuffix)

Method Summary

Methods

Modifier and Type	Method and Description
RN	evalCurvePolyAtCurrentState()
RN	evalDerivPolyAtCurrentState(StateVarSymbol symbol)
org.jscience.mathematics.function.Polynomial<RN>	getCurvePoly()
ImmutableStateFrame	getDerivativeStateFrame()
protected org.jscience.mathematics.function.Polynomial<RN>	getDerivPolyForStateVarSymbol(StateVarSymbol symbol)
org.appdapter.bind.math.jscience.function.SmoothUF<RN,RN>	getFiniteTimeCurve()
String	getFullSymbolStringForStateVar(StateVarSymbol svs)
protected org.jscience.mathematics.function.Variable<RN>	getPolyVar(StateVarSymbol symbol)
ImmutableStateFrame	getStateFrame()
protected PMC_StateVariable	getStateVariable(StateVarSymbol symbol)
RN	getStateVarVal(StateVarSymbol symbol)
org.jscience.mathematics.function.Polynomial<RN>	makeOutputDerivativeNormPoly(int derivativeOrder, RN centerPoint, int power, RN coeff)
void	readStateFromFrame(ImmutableStateFrame frame)
void	setCurvePoly(org.jscience.mathematics.function.Polynomial c)
void	setStateVarVal(StateVarSymbol symbol, RN val)
protected void	useExistingPolyVar(StateVarSymbol symbol, org.jscience.mathematics.function.Variable<RN> pvar)

Methods inherited from class java.lang.Object

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

Field Detail

myCurvePoly

protected org.jscience.mathematics.function.Polynomial<RN extends org.jscience.mathematics.number.Number<RN>> myCurvePoly

myStateVars

protected List<PMC_StateVariable<StateVarSymbol extends StateVariableSymbol,RN extends org.jscience.mathematics.number.Number<RN>>> myStateVars

mySymbolSuffix

protected String mySymbolSuffix

Constructor Detail

PolynomialMotionCurve

public PolynomialMotionCurve(String symbolSuffix)

Method Detail

setCurvePoly

public void setCurvePoly(org.jscience.mathematics.function.Polynomial c)

getCurvePoly

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

getStateVariable

protected PMC_StateVariable getStateVariable(StateVarSymbol symbol)

setStateVarVal

public void setStateVarVal(StateVarSymbol symbol,
                  RN val)

getStateVarVal

public RN getStateVarVal(StateVarSymbol symbol)

getPolyVar

protected org.jscience.mathematics.function.Variable<RN> getPolyVar(StateVarSymbol symbol)

useExistingPolyVar

protected void useExistingPolyVar(StateVarSymbol symbol,
                      org.jscience.mathematics.function.Variable<RN> pvar)

getFullSymbolStringForStateVar

public String getFullSymbolStringForStateVar(StateVarSymbol svs)

readStateFromFrame

public void readStateFromFrame(ImmutableStateFrame frame)

getStateFrame

public ImmutableStateFrame getStateFrame()

getDerivativeStateFrame

public ImmutableStateFrame getDerivativeStateFrame()

getDerivPolyForStateVarSymbol

protected org.jscience.mathematics.function.Polynomial<RN> getDerivPolyForStateVarSymbol(StateVarSymbol symbol)

evalCurvePolyAtCurrentState

public RN evalCurvePolyAtCurrentState()

evalDerivPolyAtCurrentState

public RN evalDerivPolyAtCurrentState(StateVarSymbol symbol)

makeOutputDerivativeNormPoly

public org.jscience.mathematics.function.Polynomial<RN> makeOutputDerivativeNormPoly(int derivativeOrder,
                                                                            RN centerPoint,
                                                                            int power,
                                                                            RN coeff)

getFiniteTimeCurve

public org.appdapter.bind.math.jscience.function.SmoothUF<RN,RN> getFiniteTimeCurve()