private void setPositionRow(int row, double x, double z) { setConstraintRow(row, x, z, 0); }
private void setPositionRow(int row, double x, double z) { setConstraintRow(row, x, z, 0); }
private void setAccelerationRow(int row, double x, double zAcceleration) { setConstraintRow(row, x, zAcceleration, 2); }
private void setVelocityRow(int row, double x, double zVelocity) { setConstraintRow(row, x, zVelocity, 1); }
private void setAccelerationRow(int row, double x, double zAcceleration) { setConstraintRow(row, x, zAcceleration, 2); }
private void setVelocityRow(int row, double x, double zVelocity) { setConstraintRow(row, x, zVelocity, 1); }
public void setInitialPositionVelocityZeroFinalHighOrderDerivatives(double t0, double tFinal, double z0, double zd0, double zFinal, double zdFinal) { if (maximumNumberOfCoefficients < 4) throw new RuntimeException("Need at least 4 coefficients in order to set initial and final positions and velocities"); reshape(maximumNumberOfCoefficients); setPositionRow(0, t0, z0); setVelocityRow(1, t0, zd0); setPositionRow(2, tFinal, zFinal); setVelocityRow(3, tFinal, zdFinal); int order = 2; for (int row = 4; row < maximumNumberOfCoefficients; row++) { setConstraintRow(row, tFinal, 0.0, order++); } solveForCoefficients(); setYoVariables(); }
public void setInitialPositionVelocityZeroFinalHighOrderDerivatives(double t0, double tFinal, double z0, double zd0, double zFinal, double zdFinal) { if (maximumNumberOfCoefficients < 4) throw new RuntimeException("Need at least 4 coefficients in order to set initial and final positions and velocities"); reshape(maximumNumberOfCoefficients); setPositionRow(0, t0, z0); setVelocityRow(1, t0, zd0); setPositionRow(2, tFinal, zFinal); setVelocityRow(3, tFinal, zdFinal); int order = 2; for (int row = 4; row < maximumNumberOfCoefficients; row++) { setConstraintRow(row, tFinal, 0.0, order++); } solveForCoefficients(); setYoVariables(); }