desmoj.extensions.space3D

Class KinematicsCalculations

java.lang.Object

desmoj.extensions.space3D.KinematicsCalculations

public final class KinematicsCalculations
extends java.lang.Object

This class is a utility class for the calculations of time-spatial-relations of object movements.

Author:

Fred Sun

Constructor Summary

Constructors

Constructor and Description
KinematicsCalculations()

Method Summary

Modifier and Type	Method and Description
static Movement	configureMovement(Movement movement, double totalDistance, double initialSpeed, double maxSpeed, double acc, double dec) Configures the Movement object of an object's movement based on the track, the initial speed, the maximum speed, the acceleration and the deceleration of the object.
static Movement	configureMovement(Movement movement, double totalDistance, double initialSpeed, double maxSpeed, double acc, double dec, TimeSpan totalSimDuration) Configures the Movement object based on the track length, the start speed, the maximum speed, the acceleration, the deceleration and a given total duration.
static Movement	configureMovement(Movement movement, double totalDistance, double initialSpeed, double acc, double dec, TimeSpan totalSimDuration) Configures the Movement object based on the track length, the start speed, the acceleration, the deceleration and a given total duration.
static double	getAcceleration(double initialSpeed, double endSpeed, TimeSpan duration) Gets the acceleration value based on the initial, the end speed and the acceleration duration.
static double	getCurrentSpeed(Movement movement, TimeInstant movingStartTime, TimeInstant now) Gets the current speed based on the elapsed time and the movement object.
static double	getDistanceOfSpeedBoundedAcceleration(double initialSpeed, double endSpeed, double acc) Gets the distance of the acceleration or deceleration from an initial speed to an end speed with a given acceleration or deceleration value.
static double	getDistanceOfTimedAcceleration(double duration, double initialSpeed, double acc) Gets the distance moved based on the acceleration and the duration.
static double	getDurationOfDistanceBoundedMovement(double distance, double initialSpeed, double endSpeed) Gets the duration of a simple movement based of its moving distance, initial speed and the end speed.
static double	getDurationOfSpeedBoundedAcceleration(double initialSpeed, double endSpeed, double acc) Gets the duration of the acceleration or the deceleration from an initial speed to a end speed with a given acceleration or deceleration value.
static double	getMaxAcceleratedSpeed(double distance, double initialSpeed, double endSpeed, double acc, double dec) Gets the maximum speed if the movement only consist of an acceleration from a start speed followed by a deceleration to the end speed for a certain distance.
static double	getSpeedOfDistanceBoundedAcceleration(double distance, double initialSpeed, double acc) Gets the speed based on the acceleration, initial speed and the moved distance.
static double	getSpeedOfTimedAcceleration(double duration, double initialSpeed, double acc) Gets the speed based on the acceleration and the duration.

Methods inherited from class java.lang.Object

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

Constructor Detail

KinematicsCalculations

public KinematicsCalculations()

Method Detail

configureMovement

public static Movement configureMovement(Movement movement,
                                         double totalDistance,
                                         double initialSpeed,
                                         double maxSpeed,
                                         double acc,
                                         double dec,
                                         TimeSpan totalSimDuration)

Configures the Movement object based on the track length, the start speed, the maximum speed, the acceleration, the deceleration and a given total duration.

Parameters:

movement - The movement to be configured.

totalDistance - The total length for the movement.

initialSpeed - The initial speed.

maxSpeed - The maximum speed.

acc - The acceleration.

dec - The deceleration.

totalSimDuration - The given duration in SimTime.

Returns:

The Movement object whose total distance and duration matches to the given distance and duration.

configureMovement

public static Movement configureMovement(Movement movement,
                                         double totalDistance,
                                         double initialSpeed,
                                         double acc,
                                         double dec,
                                         TimeSpan totalSimDuration)

Configures the Movement object based on the track length, the start speed, the acceleration, the deceleration and a given total duration. There's no maximum speed limitation.

Parameters:

movement - The movement to be configured.

totalDistance - The total length for the movement.

initialSpeed - The initial speed.

acc - The acceleration.

dec - The deceleration.

totalSimDuration - The given duration in SimTime.

Returns:

The Movement object whose total distance and duration matches to the given distance and duration.

configureMovement

public static Movement configureMovement(Movement movement,
                                         double totalDistance,
                                         double initialSpeed,
                                         double maxSpeed,
                                         double acc,
                                         double dec)

Configures the Movement object of an object's movement based on the track, the initial speed, the maximum speed, the acceleration and the deceleration of the object. Its duration represents the shortest duration to the destination possible (with the maximum speed as limitation).

Parameters:

movement - The movement to be configured.

totalDistance - The total length of the movement.

initialSpeed - The initial Speed.

maxSpeed - The maximum speed of the moving object.

acc - The acceleration of the moving object.

dec - The deceleration of the moving object. It's normally a negative value.

Returns:

The Movement object whose total distance matches the given distance.

getAcceleration

public static double getAcceleration(double initialSpeed,
                                     double endSpeed,
                                     TimeSpan duration)

Gets the acceleration value based on the initial, the end speed and the acceleration duration.

Parameters:

initialSpeed - The initial speed.

endSpeed - The end speed.

duration - The duration of the acceleration.

Returns:

The acceleration.

getCurrentSpeed

public static double getCurrentSpeed(Movement movement,
                                     TimeInstant movingStartTime,
                                     TimeInstant now)

Gets the current speed based on the elapsed time and the movement object.

Parameters:

movement - The movement within the current speed should be calculated.

movingStartTime - The SimTime, when the movement has started.

now - The current SimTime.

Returns:

The current speed of the movement.

getDistanceOfSpeedBoundedAcceleration

public static double getDistanceOfSpeedBoundedAcceleration(double initialSpeed,
                                                           double endSpeed,
                                                           double acc)

Gets the distance of the acceleration or deceleration from an initial speed to an end speed with a given acceleration or deceleration value.

Parameters:

initialSpeed - The initial speed.

endSpeed - The end speed.

acc - The acceleration or deceleration.

Returns:

The distance needed.

getDistanceOfTimedAcceleration

public static double getDistanceOfTimedAcceleration(double duration,
                                                    double initialSpeed,
                                                    double acc)

Gets the distance moved based on the acceleration and the duration.

Parameters:

duration - The duration of the movement.

initialSpeed - The speed offset.

acc - The acceleration.

Returns:

The distance moved with the specified duration after the duration.

getDurationOfDistanceBoundedMovement

public static double getDurationOfDistanceBoundedMovement(double distance,
                                                          double initialSpeed,
                                                          double endSpeed)

Gets the duration of a simple movement based of its moving distance, initial speed and the end speed.

Parameters:

distance - The distance of the movement.

initialSpeed - The initial speed.

endSpeed - The end speed.

Returns:

The duration.

getDurationOfSpeedBoundedAcceleration

public static double getDurationOfSpeedBoundedAcceleration(double initialSpeed,
                                                           double endSpeed,
                                                           double acc)

Gets the duration of the acceleration or the deceleration from an initial speed to a end speed with a given acceleration or deceleration value.

Parameters:

initialSpeed - The initial speed.

endSpeed - The end speed.

acc - the acceleration or deceleration value.

Returns:

The duration needed.

getMaxAcceleratedSpeed

public static double getMaxAcceleratedSpeed(double distance,
                                            double initialSpeed,
                                            double endSpeed,
                                            double acc,
                                            double dec)

Gets the maximum speed if the movement only consist of an acceleration from a start speed followed by a deceleration to the end speed for a certain distance.

Parameters:

distance - The total distance of the movement.

initialSpeed - The start speed.

endSpeed - The end speed.

acc - The acceleration.

dec - The deceleration. Normally a negative value.

Returns:

The maximum speed can be reached.

getSpeedOfDistanceBoundedAcceleration

public static double getSpeedOfDistanceBoundedAcceleration(double distance,
                                                           double initialSpeed,
                                                           double acc)

Gets the speed based on the acceleration, initial speed and the moved distance.

Parameters:

distance - The distance which the movement shouldn't exceed.

initialSpeed - The initial speed.

acc - The acceleration

Returns:

The speed after the movement.

getSpeedOfTimedAcceleration

public static double getSpeedOfTimedAcceleration(double duration,
                                                 double initialSpeed,
                                                 double acc)

Gets the speed based on the acceleration and the duration.

Parameters:

duration - The duration of the movement.

initialSpeed - The speed offset.

acc - The acceleration.

Returns:

The speed of the movement with the acceleration after the duration.