Package com.pocolifo.robobase.novel

Class AbstractMotionProfile

java.lang.Object
com.pocolifo.robobase.novel.AbstractMotionProfile
Direct Known Subclasses:
NaiveConstantMotionProfile, TrapezoidalMotionProfile
public abstract class AbstractMotionProfile extends Object

  • Field Summary

    Fields
    Modifier and Type
    Field
    Description
    final double
    duration
     
    final org.apache.commons.math3.geometry.euclidean.threed.Vector3D
    initialVelocity
     
    final double
    maxAcceleration
     
    final double
    maxVelocity
     
    final double
    minAcceleration
     
    final org.apache.commons.math3.geometry.euclidean.threed.Vector3D
    targetDisplacement
     

  • Constructor Summary

    Constructors
    Constructor
    Description
    AbstractMotionProfile(org.apache.commons.math3.geometry.euclidean.threed.Vector3D targetDisplacement, org.apache.commons.math3.geometry.euclidean.threed.Vector3D initialVelocity, double maxVelocity, double maxAcceleration, double minAcceleration)
     

  • Method Summary

    Modifier and Type
    Method
    Description
    protected abstract double
    calculateDuration()
     
    protected org.apache.commons.math3.geometry.euclidean.threed.Vector3D
    getVelocityInDirectionOfTarget(double velocity)
     
    abstract org.apache.commons.math3.geometry.euclidean.threed.Vector3D
    solveDisplacement(org.apache.commons.math3.geometry.euclidean.threed.Vector3D currentDisplacement)
     
    abstract org.apache.commons.math3.geometry.euclidean.threed.Vector3D
    solveTime(double elapsed)
     

    Methods inherited from class java.lang.Object

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

  • Field Details

    • targetDisplacement

      public final org.apache.commons.math3.geometry.euclidean.threed.Vector3D targetDisplacement

    • maxVelocity

      public final double maxVelocity

    • maxAcceleration

      public final double maxAcceleration

    • minAcceleration

      public final double minAcceleration

    • initialVelocity

      public final org.apache.commons.math3.geometry.euclidean.threed.Vector3D initialVelocity

    • duration

      public final double duration

  • Constructor Details

    • AbstractMotionProfile

      public AbstractMotionProfile(org.apache.commons.math3.geometry.euclidean.threed.Vector3D targetDisplacement, org.apache.commons.math3.geometry.euclidean.threed.Vector3D initialVelocity, double maxVelocity, double maxAcceleration, double minAcceleration)

  • Method Details

    • calculateDuration

      protected abstract double calculateDuration()

    • solveTime

      public abstract org.apache.commons.math3.geometry.euclidean.threed.Vector3D solveTime(double elapsed)

    • solveDisplacement

      public abstract org.apache.commons.math3.geometry.euclidean.threed.Vector3D solveDisplacement(org.apache.commons.math3.geometry.euclidean.threed.Vector3D currentDisplacement)

    • getVelocityInDirectionOfTarget

      protected org.apache.commons.math3.geometry.euclidean.threed.Vector3D getVelocityInDirectionOfTarget(double velocity)