package predict;

import java.awt.Point;

public class Function {
	
	
	public static Pose function(double time){
		Point p = new Point((int) (10*time),(int)(100*Math.sin(time/10)) );
		double dy = 100*(Math.sin(time/10)-Math.sin((time-0.01)/10));
		double dx = 10*(0.01);
		
		double o = -Math.atan2(dy,dx);
		return new Pose(p, o);
	}
}
@@ -61,18 +61,16 @@
 ion %7B%0A%09%0A
-%09%0A
 %09public 
@@ -110,73 +110,28 @@
 %7B%0A%09%09
-Point p = new Point((int) (10*time),(int)(100*Math.sin(time/10)) 
+double x = getX(time
 );%0A%09
@@ -142,45 +142,44 @@
 ble 
-d
 y = 
-100*(Math.sin(time/10)-Math.sin(
+getY(time);%0A%09%09double dx = x-getX
 (tim
@@ -189,13 +189,8 @@
 .01)
-/10))
 ;%0A%09%09
@@ -201,25 +201,73 @@
 le d
-x = 10*(0.01);%0A%09%09
+y = y-getY(time-0.01);%0A%09%09%0A%09%09Point p = new Point((int)x,(int)(y));
 %0A%09%09d
@@ -276,17 +276,16 @@
 ble o = 
--
 Math.ata
@@ -295,16 +295,19 @@
 dy,dx);%0A
+%09%09%0A
 %09%09return
@@ -323,12 +323,157 @@
 (p, 
+-
 o);%0A%09%7D%0A
+%09%0A%09private static double getY(double time)%7B%0A%09%09return 100*Math.sin(time/10);%0A%09%7D%0A%09%0A%09private static double getX(double time)%7B%0A%09%09return 10*time;%0A%09%7D%0A
 %7D

update function