org.cogchar.animoid.calc.curvematrix

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

java.lang.Object

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

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

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

Nested Class Summary

Nested Classes

Modifier and Type	Class and Description
static class	RampingFramedCurveSeq.Phase

Nested classes/interfaces inherited from class org.cogchar.animoid.calc.curvematrix.ConstAccelCurveSequence

ConstAccelCurveSequence.StateVarParamPartials

Field Summary

Fields

Modifier and Type	Field and Description
double	frameLenSec
double	goalDirectionSign
double	initWorldPosDeg
double	initWorldVelDPS
double	maxAccelMagPerFrame
double	maxDecelMagPerFrame
double	maxVelMagDPS
double	maxWorldPosDeg
double	minWorldPosDeg
double	postIBWorldVelDPS

Fields inherited from class org.cogchar.animoid.calc.curvematrix.ConstAccelCurveSequence

myJacobianMap

Constructor Summary

Constructors

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

Method Summary

Methods

Modifier and Type	Method and Description
void	establishParamsForMaxYieldIgnoringPosConstraints(int frameCount)
double	getSignedInitProgressRateDPS()
RN	getYieldForCurrentParamsWithPosConstraints(String dbgHeader, double truncationWarningThresh, double negativeYieldWarningThresh)
void	lowerYieldToTargetValueByReducingAccel(double targetYield)
int	maxPossibleHardUpFrames(int frameCount)
int	minFramesToStopFromInitVel()
void	syncInitialConditions()
String	toString()

Methods inherited from class org.cogchar.animoid.calc.curvematrix.ConstAccelCurveSequence

addStepCurve, appendMotionFrameDump, dumpMotionPlan, findOffsetWithinStep, findStepIndexForTimeOffset, getAccelAtTime, getBumpFunction, getFirstStepCurve, getJacobianValueMatrixMap, getName, getNumberFactory, getPosAtTime, getStepCount, getStepCurve, getStepDuration, getTotalDuration, getVelAtTime, propagateEndpointConditions, setAccelParam, setAccelParam, setAccelParams, setDurationParams, setInitialConditions

Methods inherited from class java.lang.Object

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

Field Detail

minWorldPosDeg

public double minWorldPosDeg

maxWorldPosDeg

public double maxWorldPosDeg

maxVelMagDPS

public double maxVelMagDPS

maxAccelMagPerFrame

public double maxAccelMagPerFrame

maxDecelMagPerFrame

public double maxDecelMagPerFrame

initWorldVelDPS

public double initWorldVelDPS

initWorldPosDeg

public double initWorldPosDeg

postIBWorldVelDPS

public double postIBWorldVelDPS

goalDirectionSign

public double goalDirectionSign

frameLenSec

public double frameLenSec

Constructor Detail

RampingFramedCurveSeq

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

Method Detail

getSignedInitProgressRateDPS

public double getSignedInitProgressRateDPS()

getYieldForCurrentParamsWithPosConstraints

public RN getYieldForCurrentParamsWithPosConstraints(String dbgHeader,
                                            double truncationWarningThresh,
                                            double negativeYieldWarningThresh)

syncInitialConditions

public void syncInitialConditions()

minFramesToStopFromInitVel

public int minFramesToStopFromInitVel()

establishParamsForMaxYieldIgnoringPosConstraints

public void establishParamsForMaxYieldIgnoringPosConstraints(int frameCount)

maxPossibleHardUpFrames

public int maxPossibleHardUpFrames(int frameCount)

lowerYieldToTargetValueByReducingAccel

public void lowerYieldToTargetValueByReducingAccel(double targetYield)

toString

public String toString()

Overrides:

toString in class ConstAccelCurveSequence<RN extends org.jscience.mathematics.number.Number<RN> & org.jscience.mathematics.structure.Field<RN>>