Package org.robwork.sdurw

Class RampInterpolatorQ

java.lang.Object

org.robwork.sdurw.InterpolatorQ

org.robwork.sdurw.RampInterpolatorQ

public class RampInterpolatorQ
extends InterpolatorQ

Make a ramp interpolation between two position

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
RampInterpolatorQ(long cPtr, boolean cMemoryOwn)
RampInterpolatorQ(Q start, Q end, Q vellimits, Q acclimits)	Construct RampInterpolator starting at start and finishing in end with velocity limits vellimimts and acceleration limits acclimits.
RampInterpolatorQ(Q start, Q end, Q vellimits, Q acclimits, double duration)	Construct RampInterpolator starting at start and finishing in end with velocity limits vellimimts and acceleration limits acclimits.

Method Summary

Modifier and Type	Method	Description
Q	ddx(double t)
void	delete()
double	duration()
Q	dx(double t)
static long	getCPtr(RampInterpolatorQ obj)
Q	getEnd()	Returns the end position of the interpolator
Q	getStart()	Returns the start position of the interpolator
Q	x(double t)

Methods inherited from class org.robwork.sdurw.InterpolatorQ

getCPtr

Methods inherited from class java.lang.Object

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

Constructor Detail

RampInterpolatorQ

public RampInterpolatorQ(long cPtr,
                         boolean cMemoryOwn)

RampInterpolatorQ

public RampInterpolatorQ(Q start,
                         Q end,
                         Q vellimits,
                         Q acclimits,
                         double duration)

Construct RampInterpolator starting at start and finishing in end
with velocity limits vellimimts and acceleration limits acclimits. The duration
will be calculated automatically. The start and end velocity and acceleration is zero.

If duration is not achievable given the velocity and acceleration limits then
the duration will be extended.

Parameters:

start - [in] Start of interpolator

end - [in] End of interpolator

vellimits - [in] velocity limits

acclimits - [in] acceleration limits

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

RampInterpolatorQ

public RampInterpolatorQ(Q start,
                         Q end,
                         Q vellimits,
                         Q acclimits)

Construct RampInterpolator starting at start and finishing in end
with velocity limits vellimimts and acceleration limits acclimits. The duration
will be calculated automatically. The start and end velocity and acceleration is zero.

If duration is not achievable given the velocity and acceleration limits then
the duration will be extended.

Parameters:

start - [in] Start of interpolator

end - [in] End of interpolator

vellimits - [in] velocity limits

acclimits - [in] acceleration limits

Method Detail

getCPtr

public static long getCPtr(RampInterpolatorQ obj)

delete

public void delete()

Overrides:

delete in class InterpolatorQ

x

public Q x(double t)

Overrides:

x in class InterpolatorQ

dx

public Q dx(double t)

Overrides:

dx in class InterpolatorQ

ddx

public Q ddx(double t)

Overrides:

ddx in class InterpolatorQ

getStart

public Q getStart()

Returns the start position of the interpolator

Returns:

The start position of the interpolator

getEnd

public Q getEnd()

Returns the end position of the interpolator

Returns:

The end position of the interpolator

duration

public double duration()

Overrides:

duration in class InterpolatorQ