Blend< T > Class Template Reference

Interface for blending. More...

#include <Blend.hpp>

Inherited by LloydHaywardBlend< V >, ParabolicBlend< rw::math::Vector3D< T > >, LloydHaywardBlend< T >, and ParabolicBlend< T >.

Public Types
typedef rw::core::Ptr< Blend >	Ptr
	smart pointer type to this class

Public Member Functions
virtual	~Blend ()
	Destructor.
virtual T	x (double t) const =0
	The position for a given time t. More...
virtual T	dx (double t) const =0
	The velocity for a given time t. More...
virtual T	ddx (double t) const =0
	The acceleration for a given time t. More...
virtual double	tau1 () const =0
	The time \(\tau_1\) as defined in class definition. More...
virtual double	tau2 () const =0
	The time \(\tau_2\) as defined in class definition. More...

Detailed Description

template<class T>
class rw::trajectory::Blend< T >

Interface for blending.

A Blend describes a way to blend between to consecutive interpolators. If we let \( t_1\) be the time switching from one interpolator to the next, then the blend control the path in the interval \( [t_1-\tau_1;t_1+\tau_2]\).

See the specific implementations for at description of which template arguments that are valid.

Member Function Documentation

ddx()

virtual T ddx ( double  t ) const

pure virtual

The acceleration for a given time t.

Parameters

t	[in] \( t\in[0,\tau_1+\tau_2] \)

Returns

Acceleration at time t

Implemented in ParabolicBlend< rw::math::Transform3D< T > >, ParabolicBlend< rw::math::Rotation3D< T > >, ParabolicBlend< T >, ParabolicBlend< rw::math::Vector3D< T > >, LloydHaywardBlend< rw::math::Transform3D< T > >, LloydHaywardBlend< rw::math::Rotation3D< T > >, LloydHaywardBlend< T >, and LloydHaywardBlend< V >.

dx()

virtual T dx ( double  t ) const

pure virtual

The velocity for a given time t.

Parameters

t	[in] \( t\in[0,\tau_1+\tau_2] \)

Returns

Velocity at time t

Implemented in ParabolicBlend< rw::math::Transform3D< T > >, ParabolicBlend< rw::math::Rotation3D< T > >, ParabolicBlend< T >, ParabolicBlend< rw::math::Vector3D< T > >, LloydHaywardBlend< rw::math::Transform3D< T > >, LloydHaywardBlend< rw::math::Rotation3D< T > >, LloydHaywardBlend< T >, and LloydHaywardBlend< V >.

tau1()

virtual double tau1 ( ) const

pure virtual

The time \(\tau_1\) as defined in class definition.

Returns

\(\tau_1\)

Implemented in ParabolicBlend< rw::math::Transform3D< T > >, ParabolicBlend< rw::math::Rotation3D< T > >, ParabolicBlend< T >, ParabolicBlend< rw::math::Vector3D< T > >, LloydHaywardBlend< rw::math::Transform3D< T > >, LloydHaywardBlend< rw::math::Rotation3D< T > >, LloydHaywardBlend< T >, and LloydHaywardBlend< V >.

tau2()

virtual double tau2 ( ) const

pure virtual

The time \(\tau_2\) as defined in class definition.

Returns

\(\tau_2\)

Implemented in ParabolicBlend< rw::math::Transform3D< T > >, ParabolicBlend< rw::math::Rotation3D< T > >, ParabolicBlend< T >, ParabolicBlend< rw::math::Vector3D< T > >, LloydHaywardBlend< rw::math::Transform3D< T > >, LloydHaywardBlend< rw::math::Rotation3D< T > >, LloydHaywardBlend< T >, and LloydHaywardBlend< V >.

x()

virtual T x ( double  t ) const

pure virtual

The position for a given time t.

Parameters

t	[in] \( t\in[0,\tau_1+\tau_2] \)

Returns

Position at time t

Implemented in ParabolicBlend< rw::math::Transform3D< T > >, ParabolicBlend< rw::math::Rotation3D< T > >, ParabolicBlend< T >, ParabolicBlend< rw::math::Vector3D< T > >, LloydHaywardBlend< rw::math::Transform3D< T > >, LloydHaywardBlend< rw::math::Rotation3D< T > >, LloydHaywardBlend< T >, and LloydHaywardBlend< V >.

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The documentation for this class was generated from the following file:

• Blend.hpp