public abstract class WorldJointTrajectory<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
| Modifier and Type | Field and Description |
|---|---|
protected BoundaryStyle |
myBoundaryStyle |
protected double |
myTimeUnitsPerSecond |
protected WorldJoint |
myWorldJoint |
| Constructor and Description |
|---|
WorldJointTrajectory(WorldJoint wj,
double timeUnitsPerSecond,
org.appdapter.bind.math.jscience.number.NumberFactory<TimeType> timeFactory,
BoundaryStyle boundaryStyle) |
| Modifier and Type | Method and Description |
|---|---|
protected abstract org.appdapter.bind.math.jscience.function.BumpUF<TimeType,AngleType> |
getBumpFunction() |
abstract double |
getFrameLengthSec() |
abstract WorldJointStateSnap |
getInitialJointStateSnap() |
JointVelocityAROMPS |
getJointVelocityForJumpFromPositionToTarget(JointPosition currentPosJP,
double targetOffsetSec,
double jumpDurationSec) |
JointVelocityAROMPS |
getJointVelocityForJumpFromStartToTarget(double targetOffsetSec) |
JointPosition |
getModeledJointPosAtTime(double time) |
JointVelocityAROMPS |
getModeledJointVelAtTime(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) |
WorldJoint |
getWorldJoint() |
protected WorldJoint myWorldJoint
protected double myTimeUnitsPerSecond
protected BoundaryStyle myBoundaryStyle
public WorldJointTrajectory(WorldJoint wj, double timeUnitsPerSecond, org.appdapter.bind.math.jscience.number.NumberFactory<TimeType> timeFactory, BoundaryStyle boundaryStyle)
protected abstract org.appdapter.bind.math.jscience.function.BumpUF<TimeType,AngleType> getBumpFunction()
public abstract WorldJointStateSnap getInitialJointStateSnap()
public abstract double getFrameLengthSec()
protected double getWorldAnglePosAtTime(double time)
time - protected double getWorldAngleSpeedAtTime(double time)
protected double getRomPosAtTime(double time)
protected double getRomVelAtTime(double time)
public JointPosition getModeledJointPosAtTime(double time)
public JointVelocityAROMPS getModeledJointVelAtTime(double time)
public WorldJoint getWorldJoint()
public JointVelocityAROMPS getJointVelocityForJumpFromPositionToTarget(JointPosition currentPosJP, double targetOffsetSec, double jumpDurationSec)
public JointVelocityAROMPS getJointVelocityForJumpFromStartToTarget(double targetOffsetSec)
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