public class MultiStepPJT extends ParametricJointTrajectory
| Modifier and Type | Class and Description |
|---|---|
static class |
MultiStepPJT.Dimension |
| Modifier and Type | Field and Description |
|---|---|
int |
myStepCount |
| Constructor and Description |
|---|
MultiStepPJT(org.appdapter.bind.math.jscience.number.NumberFactory nf) |
| Modifier and Type | Method and Description |
|---|---|
void |
fixDurationsAndAssessPenalties(double minDur,
double maxDur) |
ParameterVector |
getDurationPV() |
ParameterVector |
getLevelPV() |
void |
incrementBoundaryPenalty(MultiStepPJT.Dimension d,
int idx,
double penalty) |
int |
readFromArray(double[] array,
int arrayStartIdx,
boolean readAbbrevDurations)
We always read levels, then optionally read n-2 durations.
|
void |
setDurationPV(ParameterVector durPV) |
void |
setStepCount(int numSteps) |
String |
toString() |
int |
writeToArray(double[] array,
int arrayStartIdx,
boolean writeAbbrevDurations) |
public MultiStepPJT(org.appdapter.bind.math.jscience.number.NumberFactory nf)
public void setStepCount(int numSteps)
public ParameterVector getDurationPV()
public void setDurationPV(ParameterVector durPV)
public ParameterVector getLevelPV()
public void incrementBoundaryPenalty(MultiStepPJT.Dimension d, int idx, double penalty)
public void fixDurationsAndAssessPenalties(double minDur,
double maxDur)
public int writeToArray(double[] array,
int arrayStartIdx,
boolean writeAbbrevDurations)
public int readFromArray(double[] array,
int arrayStartIdx,
boolean readAbbrevDurations)
Copyright © 2010-2016. All Rights Reserved.