Interpolator< T > Class Template Reference

Interface for interpolators. More...

#include <Interpolator.hpp>

Inherited by RampInterpolator< rw::math::Q >, CircularInterpolator< T >, CubicSplineInterpolator< T >, FixedInterpolator< T >, LinearInterpolator< T >, and RampInterpolator< T >.

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

Public Member Functions
virtual	~Interpolator ()
	Virtual destructor.
virtual T	x (double t) const =0
	Position at time t. More...
virtual T	dx (double t) const =0
	Velocity at time t. More...
virtual T	ddx (double t) const =0
	Acceleration at time t. More...
virtual double	duration () const =0
	Returns the duration of the interpolator. More...

Detailed Description

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

Interface for interpolators.

See the specific implementations for more details

Member Function Documentation

ddx()

virtual T ddx ( double  t ) const

pure virtual

Acceleration at time t.

Parameters

t	[in] time between 0 and length

Returns

Acceleration

Implemented in SQUADInterpolator< T >, RampInterpolator< rw::math::Transform3D< T > >, RampInterpolator< rw::math::Vector3D< T > >, RampInterpolator< rw::math::Rotation3D< T > >, RampInterpolator< double >, RampInterpolator< T >, RampInterpolator< rw::math::Q >, LinearInterpolator< rw::math::Transform3D< T > >, LinearInterpolator< rw::math::Rotation3D< T > >, LinearInterpolator< T >, LinearInterpolator< rw::math::Vector3D< T > >, InterpolatorUtil::Transform2VectorWrapper< V, T >, FixedInterpolator< T >, CubicSplineInterpolator< rw::math::Transform3DVector< T > >, CubicSplineInterpolator< rw::math::Transform3D< T > >, CubicSplineInterpolator< rw::math::Rotation3D< T > >, CubicSplineInterpolator< T >, CubicSplineInterpolator< rw::math::Vector3D< T > >, CubicSplineInterpolator< rw::math::Quaternion< T > >, and CircularInterpolator< rw::math::Vector3D< T > >.

duration()

virtual double duration ( ) const

pure virtual

Returns the duration of the interpolator.

The duration is defined as the time it takes to move from one end of the interpolator to the other.

Returns

duration

Implemented in SQUADInterpolator< T >, RampInterpolator< rw::math::Transform3D< T > >, RampInterpolator< rw::math::Vector3D< T > >, RampInterpolator< rw::math::Rotation3D< T > >, RampInterpolator< double >, RampInterpolator< T >, RampInterpolator< rw::math::Q >, LinearInterpolator< rw::math::Transform3D< T > >, LinearInterpolator< rw::math::Rotation3D< T > >, LinearInterpolator< T >, LinearInterpolator< rw::math::Vector3D< T > >, InterpolatorUtil::Transform2VectorWrapper< V, T >, FixedInterpolator< T >, CubicSplineInterpolator< rw::math::Transform3DVector< T > >, CubicSplineInterpolator< rw::math::Transform3D< T > >, CubicSplineInterpolator< rw::math::Rotation3D< T > >, CubicSplineInterpolator< T >, CubicSplineInterpolator< rw::math::Vector3D< T > >, CubicSplineInterpolator< rw::math::Quaternion< T > >, and CircularInterpolator< rw::math::Vector3D< T > >.

dx()

virtual T dx ( double  t ) const

pure virtual

Velocity at time t.

Parameters

t	[in] time between 0 and length

Returns

Velocity

Implemented in SQUADInterpolator< T >, RampInterpolator< rw::math::Transform3D< T > >, RampInterpolator< rw::math::Vector3D< T > >, RampInterpolator< rw::math::Rotation3D< T > >, RampInterpolator< double >, RampInterpolator< T >, RampInterpolator< rw::math::Q >, LinearInterpolator< rw::math::Transform3D< T > >, LinearInterpolator< rw::math::Rotation3D< T > >, LinearInterpolator< T >, LinearInterpolator< rw::math::Vector3D< T > >, InterpolatorUtil::Transform2VectorWrapper< V, T >, FixedInterpolator< T >, CubicSplineInterpolator< rw::math::Transform3DVector< T > >, CubicSplineInterpolator< rw::math::Transform3D< T > >, CubicSplineInterpolator< rw::math::Rotation3D< T > >, CubicSplineInterpolator< T >, CubicSplineInterpolator< rw::math::Vector3D< T > >, CubicSplineInterpolator< rw::math::Quaternion< T > >, and CircularInterpolator< rw::math::Vector3D< T > >.

x()

virtual T x ( double  t ) const

pure virtual

Position at time t.

Parameters

t	[in] time between 0 and length

Returns

Position

Implemented in SQUADInterpolator< T >, RampInterpolator< rw::math::Transform3D< T > >, RampInterpolator< rw::math::Vector3D< T > >, RampInterpolator< rw::math::Rotation3D< T > >, RampInterpolator< double >, RampInterpolator< T >, RampInterpolator< rw::math::Q >, LinearInterpolator< rw::math::Transform3D< T > >, LinearInterpolator< rw::math::Rotation3D< T > >, LinearInterpolator< T >, LinearInterpolator< rw::math::Vector3D< T > >, InterpolatorUtil::Transform2VectorWrapper< V, T >, FixedInterpolator< T >, CubicSplineInterpolator< rw::math::Transform3DVector< T > >, CubicSplineInterpolator< rw::math::Transform3D< T > >, CubicSplineInterpolator< rw::math::Rotation3D< T > >, CubicSplineInterpolator< T >, CubicSplineInterpolator< rw::math::Vector3D< T > >, CubicSplineInterpolator< rw::math::Quaternion< T > >, and CircularInterpolator< rw::math::Vector3D< T > >.

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

• Interpolator.hpp