agi.foundation

(agi.foundation.core-2024r2.jar)

Interface IMotion<T,TDerivative>

Type Parameters:

T - The coordinate type used to describe the motion.

TDerivative - The derivative type used to describe the motion.

All Known Implementing Classes:

Motion1, Motion2

public interface IMotion<T,TDerivative>

Describes motion, including a coordinate and optionally one or more derivatives.

Method Summary

Modifier and Type	Method and Description
TDerivative	get(int index) Gets the indicated derivative of the motion.
TDerivative	getFirstDerivative() Gets the first derivative, if it is available.
int	getOrder() Gets the number of derivatives described by this instance.
TDerivative	getSecondDerivative() Gets the second derivative, if it is available.
T	getValue() Gets the value of the coordinate.

Method Detail

getValue

T getValue()

Gets the value of the coordinate.

getFirstDerivative

TDerivative getFirstDerivative()

Gets the first derivative, if it is available.

Throws:

ArgumentOutOfRangeException - This motion instance does not contain a first derivative.

getSecondDerivative

TDerivative getSecondDerivative()

Gets the second derivative, if it is available.

Throws:

ArgumentOutOfRangeException - This motion instance does not contain a second derivative.

get

TDerivative get(int index)

Gets the indicated derivative of the motion. Index 1 retrieves the first derivative, if it exists. Index 2 retrieves the second derivative, if it exists. The number of available derivatives is indicated by the Order (get) property.

Requesting index 0 will result in an ArgumentOutOfRangeException.

Parameters:

index - The index of the derivative to retrieve.

Returns:

The requested derivative.

getOrder

int getOrder()

Gets the number of derivatives described by this instance.