org.cogchar.animoid.calc.trajectory

Class JointAngleTrajectory<TimeType extends org.jscience.mathematics.number.Number<TimeType> & org.jscience.mathematics.structure.Field<TimeType>,AngleType extends org.jscience.mathematics.number.Number<AngleType> & org.jscience.mathematics.structure.Field<AngleType>>

java.lang.Object

org.cogchar.animoid.calc.trajectory.JointAngleTrajectory<TimeType,AngleType>

public abstract class JointAngleTrajectory<TimeType extends org.jscience.mathematics.number.Number<TimeType> & org.jscience.mathematics.structure.Field<TimeType>,AngleType extends org.jscience.mathematics.number.Number<AngleType> & org.jscience.mathematics.structure.Field<AngleType>>
extends Object

This class is an adapter between the abstract world of function curves and the concrete world of JointPositions.

Author:

Stu B.

Field Summary

Fields

Modifier and Type	Field and Description
protected BoundaryStyle	myBoundaryStyle
protected double	myTimeUnitsPerSecond
protected WorldJoint	myWorldJoint

Constructor Summary

Constructors

Constructor and Description
JointAngleTrajectory(WorldJoint wj, double timeUnitsPerSecond, org.appdapter.bind.math.jscience.number.NumberFactory<TimeType> timeFactory, BoundaryStyle boundaryStyle)

Method Summary

Methods

Modifier and Type	Method and Description
protected abstract org.appdapter.bind.math.jscience.function.BumpUF<TimeType,AngleType>	getBumpFunction()
JointPosition	getJointPosAtTime(double time)
JointVelocityAROMPS	getJointVelAtTime(double time)
protected double	getRomPosAtTime(double time)
protected double	getRomVelAtTime(double time)
protected double	getWorldAnglePosAtTime(double time) "Raw" means inversion flag not applied
protected double	getWorldAngleSpeedAtTime(double time)

Methods inherited from class java.lang.Object

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

Field Detail

myWorldJoint

protected WorldJoint myWorldJoint

myTimeUnitsPerSecond

protected double myTimeUnitsPerSecond

myBoundaryStyle

protected BoundaryStyle myBoundaryStyle

Constructor Detail

JointAngleTrajectory

public JointAngleTrajectory(WorldJoint wj,
                    double timeUnitsPerSecond,
                    org.appdapter.bind.math.jscience.number.NumberFactory<TimeType> timeFactory,
                    BoundaryStyle boundaryStyle)

Method Detail

getBumpFunction

protected abstract org.appdapter.bind.math.jscience.function.BumpUF<TimeType,AngleType> getBumpFunction()

getWorldAnglePosAtTime

protected double getWorldAnglePosAtTime(double time)

"Raw" means inversion flag not applied

Parameters:

time -

Returns:

getWorldAngleSpeedAtTime

protected double getWorldAngleSpeedAtTime(double time)

getRomPosAtTime

protected double getRomPosAtTime(double time)

getRomVelAtTime

protected double getRomVelAtTime(double time)

getJointPosAtTime

public JointPosition getJointPosAtTime(double time)

getJointVelAtTime

public JointVelocityAROMPS getJointVelAtTime(double time)