Package org.openpnp.util

Class TravelCost

java.lang.Object

org.openpnp.util.TravelCost

public class TravelCost
extends java.lang.Object

Methods to estimate the cost of motion between two locations. The basic principle is to estimate the cost using three point motion with two constant acceleration segments and one optional feedrate limited segment. The estimation assumes, that motion starts and ends at standstill.

Constructor Summary

Constructors

Constructor	Description
TravelCost()
TravelCost(HeadMountable movable)
TravelCost(HeadMountable movable, LengthUnit units)

Method Summary

Modifier and Type	Method	Description
double	getCost(Location a, Location b)
double	getXyzcCost(Location a, Location b)
double	getXyzCost(Location a, Location b)

Methods inherited from class java.lang.Object

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

Constructor Detail

TravelCost

public TravelCost(HeadMountable movable,
                  LengthUnit units)
           throws java.lang.Exception

Parameters:

movable - head mountable's axis to use for cost estimation, if null the default camera on the default head is used

units - the units to calculate the in. static data is prepared in this units and Length input is convert to this units for the estimation

Throws:

java.lang.Exception

TravelCost

public TravelCost(HeadMountable movable)
           throws java.lang.Exception

Throws:

java.lang.Exception

TravelCost

public TravelCost()
           throws java.lang.Exception

Throws:

java.lang.Exception

Method Detail

getCost

public double getCost(Location a,
                      Location b)

Parameters:

a -

b -

Returns:

cost to travel from a to b using mapped axes parameters

getXyzCost

public double getXyzCost(Location a,
                         Location b)

getXyzcCost

public double getXyzcCost(Location a,
                          Location b)