JavaScriptでカム曲線をつくる
Delphiでカム曲線のクラスはできた。
コレを、JavaScriptに移植する。
web上で実際に動作する状態を見せて説明文を書くためだ。
JavaScriptは新たに勉強する。
スクリプト言語というのは、簡単に使い始める事が出来るのだが、最近のそれはかなり奥が深い。
特にJavaScriptのオブジェクト指向はクラスベースでなくて、プロトタイプベースなので勝手が少し違う。
そこでつまずく。
躓いたかと思ったら、単純ミス。
クラスの定義は問題なかったのだが、呼び出し側でIntで呼ばなくてはいけない関数を、文字列で呼んでいた。
とりあえず、今現在のJavaScriptバージョンのソース
function Camcrv(){ } Camcrv.prototype.set_parametor = function(no){ this.crvno = no; this.t0 = 0.0; this.t7 = 1.0; this.s0 = 0.0; this.s7 = 1.0; this.v0 = 0.0; this.v7 = 0.0; switch(this.crvno){ case 1://停留 Stop this.t1=0.0;this.t2=0.0;this.t3=0.0;this.t4=0.0;this.t5=0.0;this.t6=0.0; break; case 11://等加速度 Parabolic this.t1=0.0;this.t2=0.5;this.t3=0.5;this.t4=0.5;this.t5=0.5;this.t6=1.0;break; case 2: case 22://サイクロイド this.t1=0.25;this.t2=0.25;this.t3=0.5;this.t4=0.5;this.t5=0.75;this.t6=0.75;break; case 5: case 25://変形台形 this.t1=0.125;this.t2=0.375;this.t3=0.5;this.t4=0.5;this.t5=0.625;this.t6=0.875;break; case 6: case 26://変形正弦 this.t1=0.125;this.t2=0.125;this.t3=0.5;this.t4=0.5;this.t5=0.875;this.t6=0.875;break; case 7: case 27://変形等速度 this.t1=0.0625;this.t2=0.0625;this.t3=0.25;this.t4=0.75;this.t5=0.9375;this.t6=0.9375;break; case 28://変形等速度 MCthis.v25 this.t1=3.0/32.0;this.t2=this.t1;this.t3=0.375;this.t4=0.625;this.t5=1.0-this.t2;this.t6=1.0-this.t1;break; case 3: case 12://単弦 Simple harmonic this.t1=0.0;this.t2=0.0;this.t3=0.5;this.t4=0.5;this.t5=1.0;this.t6=1.0;break; case 33://非対称サイクロイド this.t1=0.2;this.t2=0.2;this.t3=0.4;this.t4=0.4;this.t5=0.7;this.t6=0.7;break; case 34://"非対称変形台形 this.t1=0.1;this.t2=0.3;this.t3=0.4;this.t4=0.4;this.t5=0.55;this.t6=0.85;break; case 35://トラペクロイド this.t1=0.125;this.t2=(1.25+0.125*Pi)/(2.0+Pi);this.t3=this.t2+0.125; this.t4=this.t3;this.t5=this.t2+0.25;this.t6=this.t5; break; case 43://片停留サイクロイド m=1 this.t1=0.25;this.t2=0.25;this.t3=0.5;this.t4=0.5;this.t5=1.0;this.t6=1.0;break; case 44://片停留サイクロイド m=2/3 this.t1=0.2;this.t2=0.2;this.t3=0.4;this.t4=0.4;this.t5=1.0;this.t6=1.0;break; case 45://片停留変形台形 m=1 this.t1=0.125;this.t2=(7.0/16.0)-(0.125/Math.PI); this.t3=this.t2+0.125;this.t4=this.t3;this.t5=this.t2+0.25;this.t6=1.0;break; case 46://片停留変形台形ファーガソン this.t1=0.125;this.t2=0.375;this.t3=0.5;this.t4=0.5;this.t5=0.625;this.t6=1.0;break; case 47://片停留変形台形 m=2/3 this.t1=0.125;this.t2=0.6*(1.0-7.0/(18.0*Math.PI))-5.0/24.0; this.t3=this.t2+0.125;this.t4=this.t3;this.t5=this.t2+5.0/24.0;this.t6=1.0;break; case 48://片停留変形正弦 this.t1=0.125;this.t2=0.125;this.t3=0.5;this.t4=0.5;this.t5=1.0;this.t6=1.0;break; case 49://片停留トラペクロイド this.t1=0.125;this.t2=(10.0+Pi)/(16.0+8.0*Math.PI); this.t3=this.t2+0.125;this.t4=this.t3;this.t5=1.0;this.t6=1.0;break; case 50://無停留単弦 this.t1=0.0;this.t2=0.0;this.t3=0.5;this.t4=0.5;this.t5=1.0;this.t6=1.0;break; case 51://無停留変形台形 this.t1=0.0;this.t2=0.25;this.t3=0.5;this.t4=0.5;this.t5=0.75;this.t6=1.0;break; case 52://無停留変形等速度 this.t1=0.0;this.t2=0.0;this.t3=0.25;this.t4=0.75;this.t5=1.0;this.t6=1.0;break; case 92:ＮＣ２曲線 this.t1=0.0;this.t2=0.25;this.t3=1.0/3.0;this.t4=this.t3;this.t5=5.0/6.0;this.t6=this.t5;break; case 99://universal ユニバーサル曲線 break; case 125://"ＳＭＴ−３" this.t1=0.125;this.t2=0.375;this.t3=0.5;this.t4=0.5;this.t5=0.625;this.t6=0.875;break; case 126://ＳＭＳ−３ this.t1=0.125;this.t2=0.125;this.t3=0.5;this.t4=0.5;this.t5=0.875;this.t6=0.875;break; case 127://ＳＭＣＶ５０−３ this.t1=0.0625;this.t2=0.0625;this.t3=0.25;this.t4=0.75;this.t5=0.9375;this.t6=0.9375;break; case 128://ＳＭＣＶ２５−３ this.t1=3.0/32.0;this.t2=this.t1;this.t3=0.375;this.t4=0.625;this.t5=1.0-this.t2;this.t6=1.0-this.t1;break; case 199://グローバル曲線 break; default://Not defined this.t1=0.0;this.t2=0.0;this.t3=0.0;this.t4=0.0;this.t5=0.0;this.t6=0.0;break; break; } switch(this.crvno){ case 2: case 3: case 5: case 6: case 7: case 11: case 12: case 22: case 25: case 26: case 27: case 33: case 34: case 35: case 43: case 44: case 45: case 46: case 47: case 48: case 49: case 50: case 51: case 52: case 92: case 99: this.c1= 2.0*(this.t1-this.t0)/Math.PI; //this.c1= 2.0*this.t1/Math.PI; this.c2 = this.t2-this.t1; this.c3 = 2.0*(this.t3-this.t2)/Math.PI; this.c4 = this.t4-this.t3; this.c5 = 2.0*(this.t5-this.t4)/Math.PI; this.c6 = this.t6-this.t5; this.c7 =2.0*(this.t7-this.t6)/Math.PI; //this.c7 =2.0*(1.0-this.t6)/Math.PI; this.k1=this.s7-this.s0-this.v0*(this.t7-this.t0); this.k2=this.v7-this.v0; this.a1=-this.c7*this.c7-0.5*this.c6*this.c6+this.c5*this.c5-this.c6*(this.t7-this.t6)-this.c5*(this.t7-this.t4); this.b1=this.c3*this.c3+0.5*this.c2*this.c2-this.c1*this.c1+this.c3*(this.t7-this.t3)+this.c2*(this.t7-this.t2)+this.c1*(this.t7-this.t0); this.a2=-this.c7-this.c6-this.c5; this.b2=this.c3+this.c2+this.c1; this.amm=(this.k1*this.b2-this.k2*this.b1)/(this.a1*this.b2-this.a2*this.b1); this.amp=(this.k1*this.a2-this.k2*this.a1)/(this.b1*this.a2-this.b2*this.a1); this.ratio=this.amm/this.amp; this.v1=this.c1*this.amp+this.v0;this.v2=this.c2*this.amp+this.v1;this.v3=this.c3*this.amp+this.v2; this.vm=this.v3; this.v4=this.v3;this.v5=-this.c5*this.amm+this.v4;this.v6=-this.c6*this.amm+this.v5;//this.v7=-this.c7*this.amm+this.v6; this.s1=-this.c1*this.c1*this.amp+this.v1*(this.t1-this.t0)+this.s0; this.s2=0.5*this.c2*this.c2*this.amp+this.c2*this.v1+this.s1; this.s3=this.c3*this.c3*this.amp+this.v2*(this.t3-this.t2)+this.s2; this.s4=this.c4*this.v3+this.s3; this.s5=this.c5*this.c5*this.amm+this.v5*(this.t5-this.t4)+this.s4; this.s6=-0.5*this.c6*this.c6*this.amm+this.c6*this.v5+this.s5; //this.s7=-this.c7*this.c7*this.amm+this.v6*(this.t7-this.t6)+this.s6; if (this.c1 != 0.0) {this.jmp=this.amp/this.c1;} else {this.jmp = Infinity;} if (this.c3 != 0.0) {this.jmm=-this.amp/this.c3;} else {this.jmm= -Infinity;} if (this.c7 != 0.0) {this.jh=this.amm/this.c7;} else {this.jh=Infinity;} if (this.c3 == 0.0) { this.tthis.qm=this.t2; this.qm=this.amp*this.v2; } else { this.snq=(-this.c2-this.c1+Math.sqrt((this.c2+this.c1)*(this.c2+this.c1)+8.0*this.c3*this.c3))/(4.0*this.c3); this.csq=Math.sqrt(1.0-this.snq*this.snq); this.thq=Math.atan2(this.snq,this.csq); this.tqm=this.t2+this.c3*this.thq; this.qm=this.amp*this.csq*(this.c3*this.amp*this.snq+this.v2); } break; case 4: case 10: this.c1=0.0;this.c2=0.0;this.c3=0.0;this.c4=1.0;this.c5=0.0;this.c6=0.0;this.c7=0.0; this.s1=0.0;this.s2=0.0;this.s3=0.0;this.s4=1.0;this.s5=1.0;this.s6=1.0; this.v1=0.0;this.v2=0.0;this.v3=1.0;this.v4=1.0;this.v5=0.0;this.v6=0.0;this.vm=1.0; this.a1=0.0;this.a2=0.0;this.amm=-Infinity;this.amp=Infinity; this.b1=0.0;this.b2=0.0;this.csq=0.0;this.jh=Infinity;this.jmm=-Infinity;this.jmp=Infinity; this.k1=1.0;this.k2=0.0;p=0.0;this.qm=Infinity;this.ratio=0.0;this.thq=0.0;this.tqm=0.0; break; default: this.c1=0.0;this.c2=0.0;this.c3=0.0;this.c4=0.0;this.c5=0.0;this.c6=0.0;this.c7=0.0; this.s1=0.0;this.s2=0.0;this.s3=0.0;this.s4=0.0;this.s5=0.0;this.s6=0.0; this.v1=0.0;this.v2=0.0;this.v3=0.0;this.v4=0.0;this.v5=0.0;this.v6=0.0;this.vm=0.0; this.a1=0.0;this.a2=0.0;this.amm=0.0;this.amp=0.0; this.b1=0.0;this.b2=0.0;this.csq=0.0;this.jh=0.0;this.jmm=0.0;this.jmp=0.0; this.k1=0.0;this.k2=0.0;p=0.0;this.qm=0.0;this.ratio=0.0;this.thq=0.0;this.qm=0.0; break; } } Camcrv.prototype.toString = function(){ switch (this.crvno){ case 1: return "停留 Stop"; break; case 11: return "等加速度 Parabolic"; break; case 2: case 22: return "サイクロイド "; break; case 5: case 25: return "変形台形 "; break; case 6: case 26: return "変形正弦 "; break; case 7: case 27: return "変形等速度 "; case 28: return "変形等速度 MCthis.v25"; break; case 3: case 12: return "単弦 Simple harmonic"; break; case 33: return "非対称サイクロイド "; break; case 34: return"非対称変形台形 "; break; case 35: return "トラペクロイド "; break; case 43: return "片停留サイクロイド m=1"; break; case 44: return "片停留サイクロイド m=2/3"; break; case 45: return "片停留変形台形 m=1"; break; case 46: return"片停留変形台形ファーガソン "; break; case 47: return "片停留変形台形 m=2/3"; break; case 48: return "片停留変形正弦 "; break; case 49: return "片停留トラペクロイド"; break; case 50: return "無停留単弦 "; break; case 51: return "無停留変形台形 "; break; case 52: return "無停留変形等速度 "; break; case 92: return "ＮＣ２曲線 "; break; case 99: return"ユニバーサル曲線"; break; case 125: return "ＳＭＴ−３"; break; case 126: return"ＳＭＳ−３"; break; case 127: return"ＳＭＣＶ５０−３"; break; case 128: return "ＳＭＣＶ２５−３"; break; case 199: return "グローバル曲線"; break; default: return "Not defined"; break; } } Camcrv.prototype.t_range = function(t){ if (t<this.t0) {return 0;} else if (t<this.t1) {return 1;} else if (t<this.t2){return 2;} else if (t<this.t3){return 3;} else if (t<this.t4){return 4;} else if (t<this.t5){return 5;} else if (t<this.t6){return 6;} else if (t<=this.t7){return 7;} else {return 8;} } Camcrv.prototype.s = function(t){ switch(this.t_range(t)){ case 0: return this.s0; break; case 1: p = (t-this.t0)/this.c1; return -this.c1*this.c1*this.amp*Math.sin(p)+this.v1*(t-this.t0)+this.s0; break; case 2: p = t-this.t1; return 0.5*this.amp*p*p+this.v1*p+this.s1; break; case 3: p = (t-this.t2)/this.c3 return -this.c3*this.c3*this.amp*(Math.cos(p)-1.0)+this.v2*(t-this.t2)+this.s2; break; case 4: return this.v3*(t-this.t3)+this.s3; break; case 5: p = (t-this.t4)/this.c5; return this.c5*this.c5*this.amm*Math.sin(p)+this.v5*(t-this.t4)+this.s4; break; case 6: p = t-this.t5; return -0.5*this.amm*p*p+this.v5*p+this.s5; break; case 7: p = (t-this.t6)/this.c7; return this.c7*this.c7*this.amm*(Math.cos(p)-1.0)+this.v6*(t-this.t6)+this.s6; break; case 8: return this.s7+this.v7*(t-this.t7); break; default: return 0.0; break; } } Camcrv.prototype.v = function(t){ switch (this.crvno){ case 4: case 10: return 1.0; break; case 2: case 3: case 5: case 6: case 7: case 11: case 12: case 22: case 25: case 26: case 27: case 33: case 34: case 35: case 43: case 44: case 45: case 46: case 47: case 48: case 49: case 50: case 51: case 52: case 92: case 99: switch(this.t_range(t)){ case 0: return this.v0; break; case 1: p=(t-this.t0)/this.c1; return -this.c1*this.amp*Math.cos(p)+this.v1; break; case 2: p=t-this.t1; return this.amp*p+this.v1; break; case 3: p=(t-this.t2)/this.c3; return this.c3*this.amp*Math.sin(p)+this.v2; break; case 4: return this.v3; break; case 5: p=(t-this.t4)/this.c5; return this.c5*this.amm*Math.cos(p)+this.v5; break; case 6: p=t-this.t5 return -this.amm*p+this.v5; break; case 7: p=(t-this.t6)/this.c7; return -this.c7*this.amm*Math.sin(p)+this.v6; break; case 8: return this.v7; break; default: return 0.0; break; } default: return 0.0; break; } } Camcrv.prototype.a = function(t){ switch(this.crvno){ case 2: case 3: case 5: case 6: case 7: case 11: case 12: case 22: case 25: case 26: case 27: case 33: case 34: case 35: case 43: case 44: case 45: case 46: case 47: case 48: case 9: case 50: case 51: case 52: case 92: case 99: switch(this.t_range(t)){ case 1: return this.amp*Math.sin((t-this.t0)/this.c1); break; case 2: return this.amp; break; case 3: return this.amp*Math.cos((t-this.t2)/this.c3); break; case 4: return 0.0; break; case 5: return -this.amm*Math.sin((t-this.t4)/this.c5); break; case 6: return -this.amm; break; case 7: return -this.amm*Math.cos((t-this.t6)/this.c7);break; default : return 0.0; break; } default: return 0.0; break; } } Camcrv.prototype.j = function(t){ switch(this.crvno){ case 2: case 3: case 5: case 6: case 7: case 11: case 12: case 22: case 25: case 26: case 27: case 33: case 34: case 35: case 43: case 44: case 45: case 46: case 47: case 48: case 9: case 50: case 51: case 52: case 92: case 99: switch(this.t_range(t)){ case 1: return this.amp*Math.cos((t-this.t0)/this.c1)/this.c1; break; case 2: return 0.0; break; case 3: return -this.amp*Math.sin((t-this.t2)/this.c3)/this.c3; break; case 4: return 0.0; break; case 5: return -this.amm*Math.cos((t-this.t4)/this.c5)/this.c5; break; case 6: return 0.0; break; case 7: return this.amm*Math.sin((t-this.t6)/this.c7)/this.c7; break; default: return 0.0; break } default : return 0.0 ; break; } }
