org.cogchar.animoid.calc.curvematrix

Class ConstAccelCurveSequence<RN extends org.jscience.mathematics.number.Number<RN> & org.jscience.mathematics.structure.Field<RN>>

java.lang.Object

org.cogchar.animoid.calc.curvematrix.ConstAccelCurveSequence<RN>

Type Parameters:

RN -

Direct Known Subclasses:

RampingFramedCurveSeq

public class ConstAccelCurveSequence<RN extends org.jscience.mathematics.number.Number<RN> & org.jscience.mathematics.structure.Field<RN>>
extends Object

Author:

Stu B. Each of our added curves will have a different timeOffset variable, shared with stepCurves *in other sequences*, and other polynomials. Usage pattern: 1) Add step curves. 2) In any order, set accels, durations, and initial conditions 3) Propagate endpoint conditions. 4) Evaluate other functions dependent on the step curves (outside this class). Then redo 2,3,4 as needed. Note that if the contents of accel or duration

Nested Class Summary

Nested Classes

Modifier and Type	Class and Description
class	ConstAccelCurveSequence.StateVarParamPartials

Field Summary

Fields

Modifier and Type	Field and Description
Map<org.jscience.mathematics.function.Variable<RN>,ConstAccelCurveSequence.StateVarParamPartials>	myJacobianMap

Constructor Summary

Constructors

Constructor and Description
ConstAccelCurveSequence(String name, org.appdapter.bind.math.jscience.number.NumberFactory<RN> numberFactory)

Method Summary

Methods

Modifier and Type	Method and Description
void	addStepCurve(ConstAccelCurve<RN> nextCurve)
void	appendMotionFrameDump(StringBuffer buf, RN timeOffset)
String	dumpMotionPlan(int sampleCount, double lastSampleTime)
protected RN	findOffsetWithinStep(int stepIdx, RN offsetFromSeqStart)
protected Integer	findStepIndexForTimeOffset(RN offset)
RN	getAccelAtTime(RN timeOffset)
org.appdapter.bind.math.jscience.function.BumpUF<RN,RN>	getBumpFunction()
ConstAccelCurve<RN>	getFirstStepCurve()
Map<org.jscience.mathematics.function.Variable<RN>,ConstAccelCurveSequence.StateVarParamPartials>	getJacobianValueMatrixMap(List<org.jscience.mathematics.function.Variable<RN>> stateVars)
String	getName()
protected org.appdapter.bind.math.jscience.number.NumberFactory<RN>	getNumberFactory()
RN	getPosAtTime(RN timeOffset)
int	getStepCount()
ConstAccelCurve<RN>	getStepCurve(int idx)
RN	getStepDuration(int idx)
RN	getTotalDuration()
RN	getVelAtTime(RN timeOffset)
void	propagateEndpointConditions()
void	setAccelParam(int curveIndex, double accelValue)
void	setAccelParam(int curveIndex, RN accelValueNum)
void	setAccelParams(ParameterVector<RN> accVec)
void	setDurationParams(ParameterVector<RN> durVec)
void	setInitialConditions(RN initPos, RN initVel)
String	toString()

Methods inherited from class java.lang.Object

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

Field Detail

myJacobianMap

public Map<org.jscience.mathematics.function.Variable<RN extends org.jscience.mathematics.number.Number<RN> & org.jscience.mathematics.structure.Field<RN>>,ConstAccelCurveSequence.StateVarParamPartials> myJacobianMap

Constructor Detail

ConstAccelCurveSequence

public ConstAccelCurveSequence(String name,
                       org.appdapter.bind.math.jscience.number.NumberFactory<RN> numberFactory)

Method Detail

getName

public String getName()

getNumberFactory

protected org.appdapter.bind.math.jscience.number.NumberFactory<RN> getNumberFactory()

addStepCurve

public void addStepCurve(ConstAccelCurve<RN> nextCurve)

getStepCurve

public ConstAccelCurve<RN> getStepCurve(int idx)

getFirstStepCurve

public ConstAccelCurve<RN> getFirstStepCurve()

getStepCount

public int getStepCount()

setAccelParams

public void setAccelParams(ParameterVector<RN> accVec)

setAccelParam

public void setAccelParam(int curveIndex,
                 double accelValue)

setAccelParam

public void setAccelParam(int curveIndex,
                 RN accelValueNum)

setDurationParams

public void setDurationParams(ParameterVector<RN> durVec)

setInitialConditions

public void setInitialConditions(RN initPos,
                        RN initVel)

getStepDuration

public RN getStepDuration(int idx)

getTotalDuration

public RN getTotalDuration()

propagateEndpointConditions

public void propagateEndpointConditions()

findStepIndexForTimeOffset

protected Integer findStepIndexForTimeOffset(RN offset)

findOffsetWithinStep

protected RN findOffsetWithinStep(int stepIdx,
                      RN offsetFromSeqStart)

getAccelAtTime

public RN getAccelAtTime(RN timeOffset)

getVelAtTime

public RN getVelAtTime(RN timeOffset)

getPosAtTime

public RN getPosAtTime(RN timeOffset)

appendMotionFrameDump

public void appendMotionFrameDump(StringBuffer buf,
                         RN timeOffset)

dumpMotionPlan

public String dumpMotionPlan(int sampleCount,
                    double lastSampleTime)

getJacobianValueMatrixMap

public Map<org.jscience.mathematics.function.Variable<RN>,ConstAccelCurveSequence.StateVarParamPartials> getJacobianValueMatrixMap(List<org.jscience.mathematics.function.Variable<RN>> stateVars)

getBumpFunction

public org.appdapter.bind.math.jscience.function.BumpUF<RN,RN> getBumpFunction()

toString

public String toString()

Overrides:

toString in class Object