Package org.robwork.sdurw

Class LinearInterpolatorTransform3Dd

java.lang.Object

org.robwork.sdurw.InterpolatorSE3

org.robwork.sdurw.LinearInterpolatorTransform3Dd

public class LinearInterpolatorTransform3Dd
extends InterpolatorSE3

Make a linear interpolation between to position

Given a start \mathbf{s}, end \mathbf{e} and duration d
the interpolation is implemented as \mathbf{x}(t)=\mathbf{s} + (\mathbf{e}-\mathbf{s})*t/d.

The template argument given needs to support addition with the "+" operator
and scaling with a double using the "*" operator.

For use with a rw::math::Transform3D see the template specialization

Constructor Summary

Constructors

Constructor	Description
LinearInterpolatorTransform3Dd(long cPtr, boolean cMemoryOwn)
LinearInterpolatorTransform3Dd(Transform3Dd start, Transform3Dd end, double duration)	Construct LinearInterpolator starting a start and finishing in end and taking duration time. If duration <= 0 an exception is thrown

Method Summary

Modifier and Type	Method	Description
Transform3Dd	ddx(double t)	Conditional comment: End of conditional comment.
void	delete()
double	duration()
Transform3Dd	dx(double t)	Conditional comment: End of conditional comment.
static long	getCPtr(LinearInterpolatorTransform3Dd obj)
Transform3Dd	getEnd()	Returns the end position of the interpolator
Transform3Dd	getStart()	Returns the start position of the interpolator
Transform3Dd	x(double t)	Conditional comment: End of conditional comment.

Methods inherited from class org.robwork.sdurw.InterpolatorSE3

getCPtr

Methods inherited from class java.lang.Object

equals, getClass, hashCode, notify, notifyAll, toString, wait, wait, wait

Constructor Detail

LinearInterpolatorTransform3Dd

public LinearInterpolatorTransform3Dd(long cPtr,
                                      boolean cMemoryOwn)

LinearInterpolatorTransform3Dd

public LinearInterpolatorTransform3Dd(Transform3Dd start,
                                      Transform3Dd end,
                                      double duration)

Construct LinearInterpolator starting a start and finishing in end
and taking duration time.

If duration <= 0 an exception is thrown

Parameters:

start - [in] Start of interpolator

end - [in] End of interpolator

duration - [in] Time it takes to from one end to the other.

Method Detail

getCPtr

public static long getCPtr(LinearInterpolatorTransform3Dd obj)

delete

public void delete()

Overrides:

delete in class InterpolatorSE3

x

public Transform3Dd x(double t)

Conditional comment:

End of conditional comment.

Overrides:

x in class InterpolatorSE3

dx

public Transform3Dd dx(double t)

Conditional comment:

End of conditional comment.

Overrides:

dx in class InterpolatorSE3

ddx

public Transform3Dd ddx(double t)

Conditional comment:

End of conditional comment.

Overrides:

ddx in class InterpolatorSE3

getStart

public Transform3Dd getStart()

Returns the start position of the interpolator

Returns:

The start position of the interpolator

getEnd

public Transform3Dd getEnd()

Returns the end position of the interpolator

Returns:

The end position of the interpolator

duration

public double duration()

Overrides:

duration in class InterpolatorSE3