org.lsst.ccs.subsystems.shutter.sim

Interface MotionProfile

All Known Implementing Classes:

CubicSCurve

public interface MotionProfile

Describes the physical motion of a blade set. At any time t that's during the motion of a blade set, provide the distance traveled, the velocity and the acceleration. Actually, when we talk about the motion of the blade set we really mean the motion of its leading edge.

Author:

tether

Method Summary

Modifier and Type	Method and Description
double	acceleration(double t) Gives the acceleration of the blade set at time t.
double	distance(double t) Gives the distance traveled by the blade set at time t.
double	inverseDistance(double d) Provides the time t at which the distance had a given value d.
double	velocity(double t) Gives the velocity of the blade set at time t.

Method Detail

distance

double distance(double t)

Gives the distance traveled by the blade set at time t.

Parameters:

t - a time between 0.0 and the amount of time allowed for the motion, inclusive

Returns:

the distance traveled at time t. Negative for a retraction

Throws:

IllegalArgumentException - if t is invalid

velocity

double velocity(double t)

Gives the velocity of the blade set at time t.

Parameters:

t - a time between 0.0 and the amount of time allowed for the motion, inclusive

Returns:

the velocity at time t

Throws:

IllegalArgumentException - if t is invalid

acceleration

double acceleration(double t)

Gives the acceleration of the blade set at time t.

Parameters:

t - a time between 0.0 and the amount of time allowed for the motion, inclusive.

Returns:

the acceleration at time t.

Throws:

IllegalArgumentException - if t is invalid.

inverseDistance

double inverseDistance(double d)

Provides the time t at which the distance had a given value d. Assumes that the motion is monotonic; no reversals of the direction of travel.

Parameters:

d - the distance, between 0.0 and the total distance traveled, inclusive. Negative for a retraction.

Returns:

the time at which the distance traveled was d

Throws:

IllegalArgumentException - if d is invalid