InterpolatorUtil::Transform2VectorWrapper< V, T > Class Template Reference

Wraps an interpolator using rw::math::Transform3D<T> to interpolator with a vector with 7 elements. More...

#include <InterpolatorUtil.hpp>

Inherits Interpolator< V >.

Public Member Functions
	Transform2VectorWrapper (Interpolator< rw::math::Transform3D< T >> *interpolator)
	Constructs wrapper. More...
V	x (double t) const
	Position at time t. More...
V	dx (double t) const
	Velocity at time t. More...
V	ddx (double t) const
	Acceleration at time t. More...
double	duration () const
	Returns the duration of the interpolator. More...
Public Member Functions inherited from Interpolator< V >
virtual	~Interpolator ()
	Virtual destructor.

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

Detailed Description

template<class V, class T>
class rw::trajectory::InterpolatorUtil::Transform2VectorWrapper< V, T >

Wraps an interpolator using rw::math::Transform3D<T> to interpolator with a vector with 7 elements.

The vector returned contains the position followed by a quaternion for the orientation.

Constructor & Destructor Documentation

Transform2VectorWrapper()

Transform2VectorWrapper ( Interpolator< rw::math::Transform3D< T >> *  interpolator )

inline

Constructs wrapper.

Parameters

interpolator

[in] interpolator to wrap (ownership is NOT transferred)

Member Function Documentation

ddx()

V ddx ( double  t ) const

inlinevirtual

Acceleration at time t.

Parameters

t	[in] time between 0 and length

Returns

Acceleration

Implements Interpolator< V >.

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< V >.

dx()

V dx ( double  t ) const

inlinevirtual

Velocity at time t.

Parameters

t	[in] time between 0 and length

Returns

Velocity

Implements Interpolator< V >.

x()

V x ( double  t ) const

inlinevirtual

Position at time t.

Parameters

t	[in] time between 0 and length

Returns

Position

Implements Interpolator< V >.

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

• InterpolatorUtil.hpp