org.cogchar.api.animoid.world

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>>

java.lang.Object

org.cogchar.api.animoid.world.WorldJointTrajectory<TimeType,AngleType>

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

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
WorldJointTrajectory(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()
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()

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

WorldJointTrajectory

public WorldJointTrajectory(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()

getInitialJointStateSnap

public abstract WorldJointStateSnap getInitialJointStateSnap()

getFrameLengthSec

public abstract double getFrameLengthSec()

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)

getModeledJointPosAtTime

public JointPosition getModeledJointPosAtTime(double time)

getModeledJointVelAtTime

public JointVelocityAROMPS getModeledJointVelAtTime(double time)

getWorldJoint

public WorldJoint getWorldJoint()

getJointVelocityForJumpFromPositionToTarget

public JointVelocityAROMPS getJointVelocityForJumpFromPositionToTarget(JointPosition currentPosJP,
                                                              double targetOffsetSec,
                                                              double jumpDurationSec)

getJointVelocityForJumpFromStartToTarget

public JointVelocityAROMPS getJointVelocityForJumpFromStartToTarget(double targetOffsetSec)