aim4.vehicle
Class AccelSchedule

java.lang.Object
  aim4.vehicle.AccelSchedule

public class AccelSchedule
extends Object

The acceleration schedule

Nested Class Summary

static class

AccelSchedule.TimeAccel The time-acceleration pair.

Constructor Summary

AccelSchedule()
Create an acceleration schedule.

Method Summary

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()

Methods inherited from class java.lang.Object

clone, equals, finalize, getClass, hashCode, notify, notifyAll, wait, wait, wait

Constructor Detail

AccelSchedule

public AccelSchedule()

Create an acceleration schedule.

Method Detail

add

public void add(double time,
                double accel)

Add a time-acceleration pair to the acceleration schedule.

Parameters:

time - the time

accel - the acceleration

size

public int size()

Get the number of time-acceleration pairs in the acceleration schedule.

Returns:

the number of time-acceleration pairs in the acceleration schedule.

getList

public List<AccelSchedule.TimeAccel> getList()

Get the list of time-acceleration pairs.

calcFinalVelocity

public double calcFinalVelocity(double v1)

Calculate the velocity after executing the acceleration schedule, starting from the initial velocity. The last acceleration will be ignored.

Parameters:

v1 - the initial velocity

Returns:

the velocity after executing the acceleration schedule

checkVelocityUpperLimit

public 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

Parameters:

v1 - the initial velocity

vTop - the velocity's upper limit

Returns:

Whether the velocity does not exceed the velocity's upper limit at all time during the execution of this acceleration schedule.

calcTotalDistance

public 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.

Parameters:

time1 - the initial time

v1 - the initial velocity

timeEnd - the final time

Returns:

the distance traveled

calcFinalDistanceAndVelocity

public 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.

Parameters:

time1 - the initial time

v1 - the initial velocity

timeEnd - the final time

Returns:

the velocity after executing the acceleration schedule after a period of time t

calcFinalTimeAndVelocity

public 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.

Parameters:

time1 - the initial time

v1 - the initial velocity

dTotal - the distance traveled

Returns:

the velocity after executing the acceleration schedule after a period of time t

toString

public String toString()

Overrides:

toString in class Object