public class AccelSchedule extends Object
Modifier and Type | Class and Description |
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static class |
AccelSchedule.TimeAccel
The time-acceleration pair.
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Constructor and Description |
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AccelSchedule()
Create an acceleration schedule.
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Modifier and Type | Method and Description |
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void |
add(double time,
double accel)
Add a time-acceleration pair to the acceleration schedule.
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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.
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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.
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double |
calcFinalVelocity(double v1)
Calculate the velocity after executing the acceleration schedule,
starting from the initial velocity.
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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.
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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
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List<AccelSchedule.TimeAccel> |
getList()
Get the list of time-acceleration pairs.
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int |
size()
Get the number of time-acceleration pairs in the acceleration schedule.
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String |
toString() |
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 velocitypublic boolean checkVelocityUpperLimit(double v1, double vTop)
v1
- the initial velocityvTop
- the velocity's upper limitpublic double calcTotalDistance(double time1, double v1, double timeEnd)
time1
- the initial timev1
- the initial velocitytimeEnd
- the final timepublic double[] calcFinalDistanceAndVelocity(double time1, double v1, double timeEnd)
time1
- the initial timev1
- the initial velocitytimeEnd
- the final timepublic double[] calcFinalTimeAndVelocity(double time1, double v1, double dTotal)
time1
- the initial timev1
- the initial velocitydTotal
- the distance traveledCopyright © 2013. All rights reserved.