hmi.math
Class TCBSpline

java.lang.Object
  hmi.math.TCBSpline

public class TCBSpline
extends Object

TCB spline A non-uniform spline with tensity, continuity and bias controls C1 continous, interpolates the points {link http://hmi.ewi.utwente.nl/aigaion/?page=publication&kind=single&ID=358}

Author:

Herwin van Welbergen

Field Summary

private float[]	bias
private float[]	continuity
private float[]	interpolationPoints
private float[]	interpolationTimes
private float	m0
private float	mn
private float[]	tension

Constructor Summary

TCBSpline()
Constructor, m0, mn and interpolation points have to be set manually when this zero-argument constructor is used

TCBSpline(float[] val, float[] time, float[] t, float[] c, float[] b, float startSpeed, float endSpeed)
Constructor

Method Summary

float	eval(float t) Get the interpolation value at time t
static float	getValueCustomSpeed(float t, float p0, float p1, float m0, float m1) Get the interpolation value for custom speed at interpolation points p0 and p1
private static double	h0(double t)
private static double	h1(double t)
private static double	h2(double t)
private static double	h3(double t)
void	setBias(float[] bias)
void	setContinuity(float[] continuity)
void	setInterpolationPoints(float[] interpolationPoints)
void	setInterpolationTimes(float[] interpolationTimes)
void	setM0(float m0)
void	setMn(float mn)
void	setTension(float[] tension)

Methods inherited from class java.lang.Object

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

Field Detail

interpolationPoints

private float[] interpolationPoints

interpolationTimes

private float[] interpolationTimes

tension

private float[] tension

continuity

private float[] continuity

bias

private float[] bias

m0

private float m0

mn

private float mn

Constructor Detail

TCBSpline

public TCBSpline()

Constructor, m0, mn and interpolation points have to be set manually when this zero-argument constructor is used

TCBSpline

public TCBSpline(float[] val,
                 float[] time,
                 float[] t,
                 float[] c,
                 float[] b,
                 float startSpeed,
                 float endSpeed)

Constructor

Parameters:

val - interpolation points

time - interpolation times

t - tension

c - continuity

b - bias

startSpeed - start speed

endSpeed - end speed

Method Detail

h0

private static double h0(double t)

h1

private static double h1(double t)

h2

private static double h2(double t)

h3

private static double h3(double t)

eval

public float eval(float t)

Get the interpolation value at time t

Parameters:

t - time

Returns:

the interpolation value, interpolationPoints[interpolationPoints.length-1] if t >= interpolationPoints.length-1

getValueCustomSpeed

public static float getValueCustomSpeed(float t,
                                        float p0,
                                        float p1,
                                        float m0,
                                        float m1)

Get the interpolation value for custom speed at interpolation points p0 and p1

Parameters:

t - time 0<=t<=1

p0 - 1st interpolation point

p1 - 2nd interpolation point

m0 - speed at p0

m1 - speed at p1

Returns:

the interpolation value

setInterpolationPoints

public void setInterpolationPoints(float[] interpolationPoints)

Parameters:

interpolationPoints - The interpolationPoints to set.

setM0

public void setM0(float m0)

Parameters:

m0 - The m0 to set.

setMn

public void setMn(float mn)

Parameters:

mn - The mn to set.

setBias

public void setBias(float[] bias)

Parameters:

bias - the bias to set

setContinuity

public void setContinuity(float[] continuity)

Parameters:

continuity - the continuity to set

setInterpolationTimes

public void setInterpolationTimes(float[] interpolationTimes)

Parameters:

interpolationTimes - the interpolationTimes to set

setTension

public void setTension(float[] tension)

Parameters:

tension - the tension to set