Class Trajectory

java.lang.Object
  |
  +--Trajectory

class Trajectory

extends java.lang.Object

Author:

Erhan Oztop, 2001-2002

Source code by Erhan Oztop (erhan@atr.co.jp)
Copyright August 2002 via
University of Southern California Ph.D. publication copyright

Field Summary

(package private) Spline	F
(package private) int	N
(package private) Point3d	target
(package private) Spline[]	teta
(package private) Spline	TS
static Segment[]	usedseg
(package private) Path	X

Constructor Summary

Trajectory()

Trajectory(Point3d[] p)

Trajectory(Point3d[] p, int n)

Method Summary

static Spline[]	jointSpline(Segment[] seg, double[] beta1, double[] midbeta, double[] beta2, int n, double ratio)
static Spline[]	jointSpline(Segment[] seg, double[] beta1, double[] beta2, int n)
(package private) static void	showSplines(Spline[] traj, int k)
double	stretchTime(double t)
double	timewrap(double t)

Methods inherited from class java.lang.Object

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

Field Detail

N

int N

teta

Spline[] teta

TS

Spline TS

F

Spline F

X

Path X

target

Point3d target

usedseg

public static Segment[] usedseg

Constructor Detail

Trajectory

public Trajectory(Point3d[] p)

Trajectory

public Trajectory(Point3d[] p,
                  int n)

Trajectory

public Trajectory()

Method Detail

stretchTime

public double stretchTime(double t)

timewrap

public double timewrap(double t)

jointSpline

public static Spline[] jointSpline(Segment[] seg,
                                   double[] beta1,
                                   double[] beta2,
                                   int n)

jointSpline

public static Spline[] jointSpline(Segment[] seg,
                                   double[] beta1,
                                   double[] midbeta,
                                   double[] beta2,
                                   int n,
                                   double ratio)

showSplines

static void showSplines(Spline[] traj,
                        int k)