Trajectory.Constraint (Interface Manipulation Package)

[using it]

Interface Manipulation Package v4.0 (2008-06-25)

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imp.trajectory
Class Trajectory.Constraint

java.lang.Object
  imp.trajectory.Trajectory.Obstacle
      imp.trajectory.Trajectory.Constraint

public abstract static class Trajectory.Constraint
extends Trajectory.Obstacle
extends Trajectory.Obstacle

Defines an obstacle from an equation: c(x) > 0 for x outside the obstacle.

Constructor Summary
`Trajectory.Constraint(double step)` Constructs a constraint.

Method Summary
`abstract double`	`c(double[] x)` Defines the constraint equation positive outside and negative inside
`double[]`	`g(double[] x)` Defines the gradients of the constraint equation The default implementation is a numerical gradient calculation but an analytic evaluation is to be preferred.

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

Constructor Detail

public Trajectory.Constraint(double step)

Constructs a constraint.

Method Detail

public abstract double c(double[] x)

Defines the constraint equation positive outside and negative inside

public double[] g(double[] x)

Defines the gradients of the constraint equation

The default implementation is a numerical gradient calculation but an analytic evaluation is to be preferred.