java/src/liba/trajpoly5.java

   1 package liba;
   2
   3 import java.nio.ByteBuffer;
   4
   5 /** quintic polynomial trajectory */
   6 public class trajpoly5 {
   7     ByteBuffer ctx;
   8     static {
   9         System.loadLibrary("a");
  10         clinit();
  11     }
  12
  13     static final native void clinit();
  14
  15     /**
  16      * get coefficients of position for quintic polynomial trajectory
  17      *
  18      * @return coefficients of position
  19      */
  20     public final native double[] p();
  21
  22     /**
  23      * get coefficients of velocity for quintic polynomial trajectory
  24      *
  25      * @return coefficients of velocity
  26      */
  27     public final native double[] v();
  28
  29     /**
  30      * get coefficients of acceleration for quintic polynomial trajectory
  31      *
  32      * @return coefficients of acceleration
  33      */
  34     public final native double[] a();
  35
  36     /**
  37      * construct a new {@link trajpoly5} object
  38      *
  39      * @param ts difference between final time and initial time
  40      * @param p0 initial position
  41      * @param p1 final position
  42      * @param v0 initial velocity
  43      * @param v1 final velocity
  44      * @param a0 initial acceleration
  45      * @param a1 final acceleration
  46      */
  47     public trajpoly5(double ts, double p0, double p1, double v0, double v1,
  48             double a0, double a1) {
  49         gen(ts, p0, p1, v0, v1, a0, a1);
  50     }
  51
  52     /**
  53      * generate for quintic polynomial trajectory
  54      *
  55      * @param ts difference between final time and initial time
  56      * @param p0 initial position
  57      * @param p1 final position
  58      * @param v0 initial velocity
  59      * @param v1 final velocity
  60      * @param a0 initial acceleration
  61      * @param a1 final acceleration
  62      * @return {@link trajpoly5}
  63      */
  64     public final native trajpoly5 gen(double ts, double p0, double p1, double v0, double v1,
  65             double a0, double a1);
  66
  67     /**
  68      * calculate position for quintic polynomial trajectory
  69      *
  70      * @param x difference between current time and initial time
  71      * @return position output
  72      */
  73     public final native double pos(double x);
  74
  75     /**
  76      * calculate velocity for quintic polynomial trajectory
  77      *
  78      * @param x difference between current time and initial time
  79      * @return velocity output
  80      */
  81     public final native double vel(double x);
  82
  83     /**
  84      * calculate acceleration for quintic polynomial trajectory
  85      *
  86      * @param x difference between current time and initial time
  87      * @return acceleration output
  88      */
  89     public final native double acc(double x);
  90 }