Trajectory (   The Meta-CSP FrameworkA Java API for Meta-CSP based reasoning)

java.lang.Object
- org.metacsp.multi.spatioTemporal.paths.Trajectory

All Implemented Interfaces:

java.io.Serializable
```
public class Trajectory
extends java.lang.Object
implements java.io.Serializable
```
Represents a trajectory, namely, a path (sequence of PoseSteerings) plus a temporal profile. The latter is represented as fixed durations between between successive PoseSteerings along the path.

Author:

Federico Pecora

See Also:

Serialized Form

Constructor Summary

Constructors
Constructor and Description
`Trajectory(Pose[] pa)` Create a new `Trajectory` given a list of `Pose`s.
`Trajectory(Pose[] pa, double[] dts)` Create a new `Trajectory` given a list of `PoseSteering`s and the temporal profile of the `Trajectory`.
`Trajectory(PoseSteering[] psa)` Create a new `Trajectory` given a list of `PoseSteering`s.
`Trajectory(PoseSteering[] psa, double[] dts)` Create a new `Trajectory` given a list of `PoseSteering`s and the temporal profile of the `Trajectory`.
`Trajectory(java.lang.String... fileNames)` Create a new `Trajectory` given a list files containing paths.
`Trajectory(java.lang.String fileName)` Create a new `Trajectory` given list of `PoseSteering`s that is read from a file.

Method Summary

All Methods Instance Methods Concrete Methods
Modifier and Type	Method and Description
`double[]`	`getDTs()` Get the temporal profile of this `Trajectory`.
`double[]`	`getDts(int from, int to)` Get the temporal profile of a portion of this this `Trajectory`.
`Pose[]`	`getPose()` Get the path (list of `Pose`s) of this `Trajectory`.
`PoseSteering[]`	`getPoseSteering()` Get the path (list of `PoseSteering`s) of this `Trajectory`.
`com.vividsolutions.jts.geom.Coordinate[]`	`getPositions()` Get the list of positions in this `Trajectory`'s path.
`int`	`getSequenceNumber(com.vividsolutions.jts.geom.Coordinate coord)` Get the sequence number of the path point that is closest to a given coordinate.
`int`	`getSequenceNumberEnd()` Get the end sequence number of this trajectory.
`int`	`getSequenceNumberStart()` Get the start sequence number of this trajectory.
`double`	`getTimeLeftEstimate(com.vividsolutions.jts.geom.Coordinate positionNow)` Get an estimate of the time left to move on this `Trajectory` given the current position.
`double`	`getTimeLeftEstimate(int sequenceNum)` Get an estimate of the time left to move on this `Trajectory` given the current path index.
`double`	`getTimeToEstimate(int sequenceNumNow, int sequenceNumTo)` Get an estimate of the time left to move on this `Trajectory` between two path indices.
`void`	`setDTs(double[] dts)` Set the minimum transition times between path poses of this `Trajectory`.
`void`	`updateSequenceNumbers(int start, int end)` Update the sequence numbers of this trajectory (used when this is a trajectory of a sub-trajectory envelope).

Methods inherited from class java.lang.Object
clone, equals, finalize, getClass, hashCode, notify, notifyAll, toString, wait, wait, wait

- Constructor Detail
  - Trajectory
```
public Trajectory(Pose[] pa)
```
    Create a new Trajectory given a list of Poses. The temporal profile of the trajectory is computed via naive numeric resolution assuming constant acceleration and a maximum speed.
    
    Parameters:
    
    pa - The list of Poses used to build the path.
  - Trajectory
```
public Trajectory(PoseSteering[] psa)
```
    Create a new Trajectory given a list of PoseSteerings. The temporal profile of the trajectory is computed via naive numeric resolution assuming constant acceleration and a maximum speed.
    
    Parameters:
    
    psa - The list of PoseSteerings used to build the path.
  - Trajectory
```
public Trajectory(Pose[] pa,
                  double[] dts)
```
    Create a new Trajectory given a list of PoseSteerings and the temporal profile of the Trajectory.
    
    Parameters:
    
    pa - The list of PoseSteerings used to build the path.
    
    dts - The temporal profile of the Trajectory (times between successive points along the path). The zero-th element is assumed to represent the time to transition from the first point along the path to the second point along the path. The last element of this parameter should be zero.
  - Trajectory
```
public Trajectory(PoseSteering[] psa,
                  double[] dts)
```
    Create a new Trajectory given a list of PoseSteerings and the temporal profile of the Trajectory.
    
    Parameters:
    
    psa - The list of PoseSteerings used to build the path.
    
    dts - The temporal profile of the Trajectory (times between successive points along the path). The zero-th element is assumed to represent the time to transition from the first point along the path to the second point along the path. The last element of this parameter should be zero.
  - Trajectory
```
public Trajectory(java.lang.String fileName)
```
    Create a new Trajectory given list of PoseSteerings that is read from a file. The temporal profile of the trajectory is computed via naive numeric resolution assuming constant acceleration and a maximum speed.
    
    Parameters:
    
    fileName - The path of a file pointing to the list of PoseSteerings used to build the path.
  - Trajectory
```
public Trajectory(java.lang.String... fileNames)
```
    Create a new Trajectory given a list files containing paths. The temporal profile of the trajectory is computed via naive numeric resolution assuming constant acceleration and a maximum speed.
    
    Parameters:
    
    fileNames - The paths of files, each containing a list of PoseSteerings used to build the path.
- Method Detail
  - updateSequenceNumbers
```
public void updateSequenceNumbers(int start,
                                  int end)
```
    Update the sequence numbers of this trajectory (used when this is a trajectory of a sub-trajectory envelope).
    
    Parameters:
    
    start - The start sequence number in the super TrajectoryEnvelope.
    
    end - The end sequence number in the super TrajectoryEnvelope.
  - getSequenceNumberStart
```
public int getSequenceNumberStart()
```
    Get the start sequence number of this trajectory.
    
    Returns:
    
    The start sequence number of this trajectory.
  - getSequenceNumberEnd
```
public int getSequenceNumberEnd()
```
    Get the end sequence number of this trajectory.
    
    Returns:
    
    The end sequence number of this trajectory.
  - getDTs
```
public double[] getDTs()
```
    Get the temporal profile of this Trajectory.
    
    Returns:
    
    The temporal profile of this Trajectory.
  - getDts
```
public double[] getDts(int from,
                       int to)
```
    Get the temporal profile of a portion of this this Trajectory.
    
    Parameters:
    
    from - The index of the starting path point.
    
    to - The index of the last path point.
    
    Returns:
    
    The temporal profile of a portion of this this Trajectory.
  - getSequenceNumber
```
public int getSequenceNumber(com.vividsolutions.jts.geom.Coordinate coord)
```
    Get the sequence number of the path point that is closest to a given coordinate.
    
    Parameters:
    
    coord - The coordinate to which the closest sequence number should be found.
    
    Returns:
    
    The sequence number of the path point that is closest to the given coordinate.
  - getTimeLeftEstimate
```
public double getTimeLeftEstimate(com.vividsolutions.jts.geom.Coordinate positionNow)
```
    Get an estimate of the time left to move on this Trajectory given the current position. The estimate is based on this Trajectory's temporal profile.
    
    Parameters:
    
    positionNow - The position from which the estimate should be computed.
    
    Returns:
    
    An estimate of the time left to move on this Trajectory given the current position.
  - getTimeToEstimate
```
public double getTimeToEstimate(int sequenceNumNow,
                                int sequenceNumTo)
```
    Get an estimate of the time left to move on this Trajectory between two path indices. The estimate is based on this Trajectory's temporal profile.
    
    Parameters:
    
    sequenceNumNow - The path index from which the estimate should be computed.
    
    sequenceNumTo - The path index to which the estimate should be computed.
    
    Returns:
    
    An estimate of the time left to move on this Trajectory given the current path index.
  - getTimeLeftEstimate
```
public double getTimeLeftEstimate(int sequenceNum)
```
    Get an estimate of the time left to move on this Trajectory given the current path index. The estimate is based on this Trajectory's temporal profile.
    
    Parameters:
    
    sequenceNum - The path index from which the estimate should be computed.
    
    Returns:
    
    An estimate of the time left to move on this Trajectory given the current path index.
  - setDTs
```
public void setDTs(double[] dts)
```
    Set the minimum transition times between path poses of this Trajectory. This is essentially the fastest time profile of this Trajectory.
    
    Parameters:
    
    dts - A vector containing the minimum transition times between path poses of this Trajectory. Values are assumed to be in seconds.
  - getPoseSteering
```
public PoseSteering[] getPoseSteering()
```
    Get the path (list of PoseSteerings) of this Trajectory.
    
    Returns:
    
    The path (list of PoseSteerings) of this Trajectory.
  - getPose
```
public Pose[] getPose()
```
    Get the path (list of Poses) of this Trajectory.
    
    Returns:
    
    The path (list of Poses) of this Trajectory.
  - getPositions
```
public com.vividsolutions.jts.geom.Coordinate[] getPositions()
```
    Get the list of positions in this Trajectory's path.
    
    Returns:
    
    The list of positions in this Trajectory's path.

Class Trajectory

Constructor Summary

Method Summary

Methods inherited from class java.lang.Object

Constructor Detail

Trajectory

Trajectory

Trajectory

Trajectory

Trajectory

Trajectory

Method Detail

updateSequenceNumbers

getSequenceNumberStart

getSequenceNumberEnd

getDTs

getDts

getSequenceNumber

getTimeLeftEstimate

getTimeToEstimate

getTimeLeftEstimate

setDTs

getPoseSteering

getPose

getPositions