How to use

FrameNDoFTrapezoidalVelocityTrajectory

in

us.ihmc.robotics.math.trajectories

public static void synchronize(FrameNDoFTrapezoidalVelocityTrajectory[] trajectories)
{
 // does not require reference frame match!
 double tFMaxMax = getTFMaxMax(trajectories);
 for (FrameNDoFTrapezoidalVelocityTrajectory trajectory : trajectories)
 {
   trajectory.synchronize(tFMaxMax);
 }
}

private static double getTFMaxMax(FrameNDoFTrapezoidalVelocityTrajectory[] trajectories)
{
 double tFMaxMax = Double.NEGATIVE_INFINITY;
 for (FrameNDoFTrapezoidalVelocityTrajectory trajectory : trajectories)
 {
   double tFMax = trajectory.getTFMax();
   if (tFMax > tFMaxMax)
   {
    tFMaxMax = tFMax;
   }
 }
 return tFMaxMax;
}

private static double getTFMaxMax(FrameNDoFTrapezoidalVelocityTrajectory[] trajectories)
{
 double tFMaxMax = Double.NEGATIVE_INFINITY;
 for (FrameNDoFTrapezoidalVelocityTrajectory trajectory : trajectories)
 {
   double tFMax = trajectory.getTFMax();
   if (tFMax > tFMaxMax)
   {
    tFMaxMax = tFMax;
   }
 }
 return tFMaxMax;
}

public static void synchronize(FrameNDoFTrapezoidalVelocityTrajectory[] trajectories)
{
 // does not require reference frame match!
 double tFMaxMax = getTFMaxMax(trajectories);
 for (FrameNDoFTrapezoidalVelocityTrajectory trajectory : trajectories)
 {
   trajectory.synchronize(tFMaxMax);
 }
}