CircularInterpolator< rw::math::Vector3D< T > > Class Template Reference

Makes circular interpolation based on rw::math::Vector3D. More...

#include <CircularInterpolator.hpp>

Inherits Interpolator< rw::math::Vector3D< T > >.

Public Member Functions
	CircularInterpolator (const rw::math::Vector3D< T > &p1, const rw::math::Vector3D< T > &p2, const rw::math::Vector3D< T > &p3, double duration)
	Constructs circular interpolator from 3 points. More...
virtual	~CircularInterpolator ()
	Destructor.
rw::math::Vector3D< T >	x (double t) const
	Position at time t. More...
rw::math::Vector3D< T >	dx (double t) const
	Velocity at time t. More...
rw::math::Vector3D< T >	ddx (double t) const
	Acceleration at time t. More...
double	duration () const
	Returns the duration of the interpolator. More...
const rw::math::Vector3D< T > &	getP1 () const
const rw::math::Vector3D< T > &	getP2 () const
const rw::math::Vector3D< T > &	getP3 () const
Public Member Functions inherited from Interpolator< rw::math::Vector3D< T > >
virtual	~Interpolator ()
	Virtual destructor.

Additional Inherited Members
Public Types inherited from Interpolator< rw::math::Vector3D< T > >
typedef rw::core::Ptr< Interpolator >	Ptr
	smart pointer type to this class

Detailed Description

template<class T>
class rw::trajectory::CircularInterpolator< rw::math::Vector3D< T > >

Makes circular interpolation based on rw::math::Vector3D.

CircularInterpolator<rw::math::Vector3D<T> > implements a circular interpolation for 3D points stored in a rw::math::Vector3D<T>.

The template argument T specified whether to use float or double.

The CircularInterpolator is constructed based on 3 points, which defines the plane in which the interpolation occurs.

Constructor & Destructor Documentation

CircularInterpolator()

CircularInterpolator ( const rw::math::Vector3D< T > &  p1, const rw::math::Vector3D< T > &  p2, const rw::math::Vector3D< T > &  p3, double  duration  )

inline

Constructs circular interpolator from 3 points.

Calculates the parameters of the circle based on a start point p1, end point p3 and an intermediate point p2.

If the three points are on a straight line an exception will be thrown.

Parameters

p1	[in] Start point of circular interpolator
p2	[in] Intermediate point on the circle
p3	[in] End point of circular interpolator
duration	[in] Duration of the segment

Member Function Documentation

ddx()

rw::math::Vector3D<T> ddx ( double  t ) const

inlinevirtual

Acceleration at time t.

Parameters

t	[in] time between 0 and length

Returns

Acceleration

Implements Interpolator< rw::math::Vector3D< T > >.

duration()

double duration ( ) const

inlinevirtual

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

Implements Interpolator< rw::math::Vector3D< T > >.

dx()

rw::math::Vector3D<T> dx ( double  t ) const

inlinevirtual

Velocity at time t.

Parameters

t	[in] time between 0 and length

Returns

Velocity

Implements Interpolator< rw::math::Vector3D< T > >.

x()

rw::math::Vector3D<T> x ( double  t ) const

inlinevirtual

Position at time t.

Parameters

t	[in] time between 0 and length

Returns

Position

Implements Interpolator< rw::math::Vector3D< T > >.

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

• CircularInterpolator.hpp