Package com.pocolifo.robobase.novel

Class TrapezoidalMotionProfile

java.lang.Object

com.pocolifo.robobase.novel.AbstractMotionProfile

com.pocolifo.robobase.novel.TrapezoidalMotionProfile

public class TrapezoidalMotionProfile
extends AbstractMotionProfile

Field Summary

Fields inherited from class com.pocolifo.robobase.novel.AbstractMotionProfile

duration, initialVelocity, maxAcceleration, maxVelocity, minAcceleration, targetDisplacement

Constructor Summary

Constructors

Constructor	Description
TrapezoidalMotionProfile(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
double	calculateDuration()
org.apache.commons.math3.geometry.euclidean.threed.Vector3D	solveDisplacement(org.apache.commons.math3.geometry.euclidean.threed.Vector3D currentDisplacement)
org.apache.commons.math3.geometry.euclidean.threed.Vector3D	solveTime(double elapsed)

Methods inherited from class com.pocolifo.robobase.novel.AbstractMotionProfile

getVelocityInDirectionOfTarget

Methods inherited from class java.lang.Object

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

Constructor Details

TrapezoidalMotionProfile

public TrapezoidalMotionProfile(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

public double calculateDuration()

Specified by:

calculateDuration in class AbstractMotionProfile

solveTime

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

Specified by:

solveTime in class AbstractMotionProfile

solveDisplacement

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

Specified by:

solveDisplacement in class AbstractMotionProfile