java/src/liba/trajtrap.java

   1 package liba;
   2
   3 import java.nio.ByteBuffer;
   4
   5 /** trapezoidal velocity trajectory */
   6 public class trajtrap {
   7     ByteBuffer ctx;
   8     static {
   9         System.loadLibrary("a");
  10         clinit();
  11     }
  12
  13     static final native void clinit();
  14
  15     final native void init();
  16
  17     /**
  18      * get total duration for trapezoidal velocity trajectory
  19      *
  20      * @return total duration
  21      */
  22     public final native double t();
  23
  24     /**
  25      * get initial position for trapezoidal velocity trajectory
  26      *
  27      * @return initial position
  28      */
  29     public final native double p0();
  30
  31     /**
  32      * get final position for trapezoidal velocity trajectory
  33      *
  34      * @return final position
  35      */
  36     public final native double p1();
  37
  38     /**
  39      * get initial velocity for trapezoidal velocity trajectory
  40      *
  41      * @return initial velocity
  42      */
  43     public final native double v0();
  44
  45     /**
  46      * get final velocity for trapezoidal velocity trajectory
  47      *
  48      * @return final velocity
  49      */
  50     public final native double v1();
  51
  52     /**
  53      * get constant velocity for trapezoidal velocity trajectory
  54      *
  55      * @return constant velocity
  56      */
  57     public final native double vc();
  58
  59     /**
  60      * get time before constant velocity for trapezoidal velocity trajectory
  61      *
  62      * @return time before constant velocity
  63      */
  64     public final native double ta();
  65
  66     /**
  67      * get time after constant velocity for trapezoidal velocity trajectory
  68      *
  69      * @return time after constant velocity
  70      */
  71     public final native double td();
  72
  73     /**
  74      * get position before constant velocity for trapezoidal velocity trajectory
  75      *
  76      * @return position before constant velocity
  77      */
  78     public final native double pa();
  79
  80     /**
  81      * get position after constant velocity for trapezoidal velocity trajectory
  82      *
  83      * @return position after constant velocity
  84      */
  85     public final native double pd();
  86
  87     /**
  88      * get acceleration before constant velocity for trapezoidal velocity trajectory
  89      *
  90      * @return acceleration before constant velocity
  91      */
  92     public final native double ac();
  93
  94     /**
  95      * get acceleration after constant velocity for trapezoidal velocity trajectory
  96      *
  97      * @return acceleration after constant velocity
  98      */
  99     public final native double de();
 100
 101     /**
 102      * construct a new {@link trajtrap} object
 103      */
 104     public trajtrap() {
 105         init();
 106     }
 107
 108     /**
 109      * generate for trapezoidal velocity trajectory
 110      *
 111      * @param vm defines the maximum velocity during system operation
 112      * @param ac defines the acceleration before constant velocity
 113      * @param de defines the acceleration after constant velocity
 114      * @param p0 defines the initial position
 115      * @param p1 defines the final position
 116      * @param v0 defines the initial velocity
 117      * @param v1 defines the final velocity
 118      * @return total duration
 119      */
 120     public final native double gen(double vm, double ac, double de, double p0, double p1, double v0, double v1);
 121
 122     /**
 123      * calculate position for trapezoidal velocity trajectory
 124      *
 125      * @param x difference between current time and initial time
 126      * @return position output
 127      */
 128     public final native double pos(double x);
 129
 130     /**
 131      * calculate velocity for trapezoidal velocity trajectory
 132      *
 133      * @param x difference between current time and initial time
 134      * @return velocity output
 135      */
 136     public final native double vel(double x);
 137
 138     /**
 139      * calculate acceleration for trapezoidal velocity trajectory
 140      *
 141      * @param x difference between current time and initial time
 142      * @return acceleration output
 143      */
 144     public final native double acc(double x);
 145 }