javax.robotics.engine.trajectory
Class Trapezoidal

java.lang.Object
  javax.robotics.engine.trajectory.Trapezoidal

All Implemented Interfaces:

Trajectory

public class Trapezoidal
extends java.lang.Object
implements Trajectory

This class implements trapezoidal velocity profile interpolator.

Since:

1.0.2

Version:

16/11/2005

Author:

Carmine Lia

Field Summary

Fields inherited from interface javax.robotics.engine.trajectory.Trajectory

BAD_DATA, NOT_IN_RANGE

Constructor Summary

Trapezoidal(double ps, double pf, double vMax, double tf)
Constructor of trapezoidal interpolator for a single trajectory.

Trapezoidal(java.io.File fileName)
Constructor of trapezoidal interpolator from XML file.

Trapezoidal(java.io.InputStream fileName)
Constructor of trapezoidal interpolator from XML input stream.

Trapezoidal(RVector ps, RVector pf, RVector vMax, double tf)
Constructor of trapezoidal interpolator for trajectories of the same durations.

Trapezoidal(RVector ps, RVector pf, RVector vMax, RVector tf)
Constructor of trapezoidal interpolator for trajectories of differents durations.

Trapezoidal(java.lang.String fileName)
Constructor of trapezoidal interpolator from XML file.

Trapezoidal(java.net.URI uri)
Constructor of trapezoidal interpolator with URI of xml file parameter.

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) Deprecated.
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) Deprecated.
void	interpolate(double t, RVector3d p, RVector3d pp, RVector3d ppp, Quaternion q, RVector3d w, RVector3d wp) Deprecated.
void	interpolate(double t, RVector p, RVector pp, RVector ppp) Interpolates at time t to set the position, velocity and acceleration.

Methods inherited from class java.lang.Object

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

Constructor Detail

Trapezoidal

public Trapezoidal(java.net.URI uri)
            throws org.apache.xmlbeans.XmlException,
                   java.io.IOException

Constructor of trapezoidal interpolator with URI of xml file parameter. The URI can be an URL or a file path.

Parameters:

uri - xml configuration file URI of robot parameter

Throws:

org.apache.xmlbeans.XmlException

java.io.IOException

Trapezoidal

public Trapezoidal(java.lang.String fileName)
            throws org.apache.xmlbeans.XmlException,
                   java.io.IOException

Constructor of trapezoidal interpolator from XML file.

Parameters:

fileName - the xml trapezoidal path file.

Throws:

org.apache.xmlbeans.XmlException

java.io.IOException

Trapezoidal

public Trapezoidal(java.io.File fileName)
            throws org.apache.xmlbeans.XmlException,
                   java.io.IOException

Constructor of trapezoidal interpolator from XML file.

Parameters:

fileName - the xml trapezoidal path file.

Throws:

org.apache.xmlbeans.XmlException

java.io.IOException

Trapezoidal

public Trapezoidal(java.io.InputStream fileName)
            throws org.apache.xmlbeans.XmlException,
                   java.io.IOException

Constructor of trapezoidal interpolator from XML input stream.

Parameters:

fileName - the xml trapezoidal path file.

Throws:

org.apache.xmlbeans.XmlException

java.io.IOException

Trapezoidal

public Trapezoidal(RVector ps,
                   RVector pf,
                   RVector vMax,
                   double tf)

Constructor of trapezoidal interpolator for trajectories of the same durations.

Parameters:

ps - the initial positions.

pf - the final positions.

vMax - the maximum velocities (the absolute value is taken).

tf - the final time.

Trapezoidal

public Trapezoidal(RVector ps,
                   RVector pf,
                   RVector vMax,
                   RVector tf)

Constructor of trapezoidal interpolator for trajectories of differents durations.

Parameters:

ps - the initial positions.

pf - the final positions.

vMax - the maximum velocities (the absolute value is taken).

tf - the final times.

Trapezoidal

public Trapezoidal(double ps,
                   double pf,
                   double vMax,
                   double tf)

Constructor of trapezoidal interpolator for a single trajectory.

Parameters:

pf - the final position.

vMax - the maximum velocity (the absolute value is taken).

tf - the final time.

Method Detail

getID

public short getID()

Description copied from interface: Trajectory

Gets Trajectory class ID.

Specified by:

getID in interface Trajectory

Returns:

ID

getError

public short getError()

Description copied from interface: Trajectory

Gets error flag.

Specified by:

getError in interface Trajectory

Returns:

error flag.

See Also:

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

getXmlHandler

public final pathML.PathConfigurationType getXmlHandler()

Gets the xml confguration handler of trajectory.

Specified by:

getXmlHandler in interface Trajectory

Returns:

the handler.

interpolate

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

Description copied from interface: Trajectory

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

Specified by:

interpolate in interface Trajectory

Parameters:

t - time

p - the position at time t

pp - the velocity at time t

ppp - the acceleration at time t

interpolate

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

Description copied from interface: Trajectory

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

Specified by:

interpolate in interface Trajectory

Parameters:

t - time

p - the position at time t

pp - the velocity at time t

ppp - the acceleration at time t

interpolate

public double[] interpolate(double t)

Description copied from interface: Trajectory

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

Specified by:

interpolate in interface Trajectory

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

interpolate

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

Deprecated.

Function Not implemented

Specified by:

interpolate in interface Trajectory

Parameters:

t - time

q - the quaternion at time t

w - the angular velocity at time t

interpolate

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

Deprecated.

Function Not implemented

Specified by:

interpolate in interface Trajectory

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:

Trajectory.getError()

interpolate

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

Deprecated.

Function Not implemented

Specified by:

interpolate in interface Trajectory

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:

Trajectory.getError()