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java.lang.Object aim4.vehicle.AccelSchedule
public class AccelSchedule
The acceleration schedule
Nested Class Summary | |
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static class |
AccelSchedule.TimeAccel
The time-acceleration pair. |
Constructor Summary | |
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AccelSchedule()
Create an acceleration schedule. |
Method Summary | |
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void |
add(double time,
double accel)
Add a time-acceleration pair to the acceleration schedule. |
double[] |
calcFinalDistanceAndVelocity(double time1,
double v1,
double timeEnd)
Calculate the distance and velocity traveled by the vehicle starting at a given time and velocity and ending at a given time. |
double[] |
calcFinalTimeAndVelocity(double time1,
double v1,
double dTotal)
Calculate the distance and velocity traveled by the vehicle starting at a given time and velocity and ending at a given time. |
double |
calcFinalVelocity(double v1)
Calculate the velocity after executing the acceleration schedule, starting from the initial velocity. |
double |
calcTotalDistance(double time1,
double v1,
double timeEnd)
Calculate the distance traveled by the vehicle starting at a given time and velocity and ending at a given time. |
boolean |
checkVelocityUpperLimit(double v1,
double vTop)
Whether the velocity does not exceed the velocity's upper limit at any time point during the execution of the acceleration schedule |
List<AccelSchedule.TimeAccel> |
getList()
Get the list of time-acceleration pairs. |
int |
size()
Get the number of time-acceleration pairs in the acceleration schedule. |
String |
toString()
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Methods inherited from class java.lang.Object |
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clone, equals, finalize, getClass, hashCode, notify, notifyAll, wait, wait, wait |
Constructor Detail |
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public AccelSchedule()
Method Detail |
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public void add(double time, double accel)
time
- the timeaccel
- the accelerationpublic int size()
public List<AccelSchedule.TimeAccel> getList()
public double calcFinalVelocity(double v1)
v1
- the initial velocity
public boolean checkVelocityUpperLimit(double v1, double vTop)
v1
- the initial velocityvTop
- the velocity's upper limit
public double calcTotalDistance(double time1, double v1, double timeEnd)
time1
- the initial timev1
- the initial velocitytimeEnd
- the final time
public double[] calcFinalDistanceAndVelocity(double time1, double v1, double timeEnd)
time1
- the initial timev1
- the initial velocitytimeEnd
- the final time
public double[] calcFinalTimeAndVelocity(double time1, double v1, double dTotal)
time1
- the initial timev1
- the initial velocitydTotal
- the distance traveled
public String toString()
toString
in class Object
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