org.lsst.ccs.subsystem.shutter.sim

Class PredictedTrajectory

java.lang.Object

org.lsst.ccs.subsystem.shutter.sim.PredictedTrajectory

public final class PredictedTrajectory
extends Object

Samples a motion profile function to produce a stream of PredictedPosition objects.

The physical motion profile is sampled at regular intervals, each sampling being used to make a PredictedPosition object. The starting time is added to the time-since-move-start used by the profile. The sampling is done once but can be retrieved as many times as needed.

Instances are immutable.

Author:

tether

Constructor Summary

Constructors

Constructor and Description
PredictedTrajectory(double startPosition, org.lsst.ccs.utilities.taitime.CCSTimeStamp startTime, Duration dt, int numSamples, MotionProfile profile) Samples the given physical motion profile.

Method Summary

Modifier and Type	Method and Description
List<PredictedPosition>	getPositions() Returns the time-ordered list of predicted positions (and accelerations, etc.).

Methods inherited from class java.lang.Object

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

Constructor Detail

PredictedTrajectory

public PredictedTrajectory(double startPosition,
                           org.lsst.ccs.utilities.taitime.CCSTimeStamp startTime,
                           Duration dt,
                           int numSamples,
                           MotionProfile profile)

Samples the given physical motion profile.

Parameters:

startPosition - the normalized start position (dimensionless in [0, 1])

startTime - The absolute time of motion start.

dt - the time between samples in seconds

numSamples - the number of positions to take

profile - the motion profile to be sampled

Method Detail

getPositions

public List<PredictedPosition> getPositions()

Returns the time-ordered list of predicted positions (and accelerations, etc.).

Returns:

the position list (unmodifiable).