javax.robotics.engine.trajectory
Interface Trajectory

All Known Implementing Classes:

Spline, Trapezoidal

public interface Trajectory

This is an interface for different trajectory interpolators.

Wrapper class for C++ library ROBOOP.

Since:

1.0.0

Version:

5/10/2005

Author:

Carmine Lia

Field Summary

static short	BAD_DATA Error type about spline interpolation.
static short	NOT_IN_RANGE Error type about spline interpolation.

Method Summary

short	getError() Gets error flag.
short	getID() Gets Trajectory class ID.
pathML.PathConfigurationType	getXmlHandler() Gets the xml confguration handler of trajectory.
double[]	interpolate(double t) Interpolates at time t to set the position, velocity and acceleration.
void	interpolate(double t, Quaternion q, RVector3d w) Interpolates at time t to set the quaternion and angular velocity.
void	interpolate(double t, RVector3d p, RVector3d pp, RVector3d ppp) Interpolates at time t to set the position, velocity and acceleration.
void	interpolate(double t, RVector3d p, RVector3d pp, RVector3d ppp, Quaternion q, RVector3d w) Interpolates at time t to set the position, velocity, acceleration, the quaternion and angular velocity.
void	interpolate(double t, RVector3d p, RVector3d pp, RVector3d ppp, Quaternion q, RVector3d w, RVector3d wp) Interpolates at time t to set the position, velocity, acceleration, the quaternion and angular velocity.
void	interpolate(double t, RVector p, RVector pp, RVector ppp) Interpolates at time t to set the position, velocity and acceleration.

Field Detail

BAD_DATA

static final short BAD_DATA

Error type about spline interpolation.

See Also:

Spline.interpolate(double, RVector, RVector, RVector), Spline.interpolate(double, Quaternion, RVector3d), Constant Field Values

NOT_IN_RANGE

static final short NOT_IN_RANGE

Error type about spline interpolation.

See Also:

Spline.interpolate(double, RVector, RVector, RVector), Spline.interpolate(double, Quaternion, RVector3d), Constant Field Values

Method Detail

getID

short getID()

Gets Trajectory class ID.

Returns:

ID

getError

short getError()

Gets error flag.

Returns:

error flag.

See Also:

interpolate(double, RVector, RVector, RVector), interpolate(double, Quaternion, RVector3d)

getXmlHandler

pathML.PathConfigurationType getXmlHandler()

Gets the xml confguration handler of trajectory.

Returns:

the handler.

interpolate

void interpolate(double t,
                 RVector p,
                 RVector pp,
                 RVector ppp)

Interpolates at time t to set the position, velocity and acceleration.

Parameters:

t - time

p - the position at time t

pp - the velocity at time t

ppp - the acceleration at time t

interpolate

void interpolate(double t,
                 RVector3d p,
                 RVector3d pp,
                 RVector3d ppp)

Interpolates at time t to set the position, velocity and acceleration.

Parameters:

t - time

p - the position at time t

pp - the velocity at time t

ppp - the acceleration at time t

interpolate

void interpolate(double t,
                 Quaternion q,
                 RVector3d w)

Interpolates at time t to set the quaternion and angular velocity.

Parameters:

t - time

q - the quaternion at time t

w - the angular velocity at time t

interpolate

void interpolate(double t,
                 RVector3d p,
                 RVector3d pp,
                 RVector3d ppp,
                 Quaternion q,
                 RVector3d w)

Interpolates at time t to set the position, velocity, acceleration, the quaternion and angular velocity.

It modifies error flag.

Parameters:

t - the time

p - the position at time t

pp - the velocity at time t

ppp - the acceleration at time t

q - the quaternion at time t

w - the angular velocity at time t

See Also:

getError()

interpolate

void interpolate(double t,
                 RVector3d p,
                 RVector3d pp,
                 RVector3d ppp,
                 Quaternion q,
                 RVector3d w,
                 RVector3d wp)

Interpolates at time t to set the position, velocity, acceleration, the quaternion and angular velocity.

It modifies error flag.

Parameters:

t - the time

p - the position at time t

pp - the velocity at time t

ppp - the acceleration at time t

q - the quaternion at time t

w - the angular velocity at time t

wp - the angular acceleration at time t

See Also:

getError()

interpolate

double[] interpolate(double t)

Interpolates at time t to set the position, velocity and acceleration.

Parameters:

t - time

Returns:

a 3 elements array: the first element is the position at time t the second element is the velocity at time t the third element is the acceleration at time t