Package org.robwork.sdurw

Class RampInterpolatorTransform3Dd

java.lang.Object

org.robwork.sdurw.InterpolatorSE3

org.robwork.sdurw.RampInterpolatorTransform3Dd

public class RampInterpolatorTransform3Dd
extends InterpolatorSE3

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
RampInterpolatorTransform3Dd(long cPtr, boolean cMemoryOwn)
RampInterpolatorTransform3Dd(Transform3Dd start, Transform3Dd end, Transform3Dd vellimits, Transform3Dd acclimits)	Construct RampInterpolator starting at start and finishing in end with velocity limits vellimimts and acceleration limits acclimits.
RampInterpolatorTransform3Dd(Transform3Dd start, Transform3Dd end, Transform3Dd vellimits, Transform3Dd 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
Transform3Dd	ddx(double t)
void	delete()
double	duration()
Transform3Dd	dx(double t)
static long	getCPtr(RampInterpolatorTransform3Dd obj)
Transform3Dd	getEnd()	Returns the end position of the interpolator
Transform3Dd	getStart()	Returns the start position of the interpolator
Transform3Dd	x(double t)

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

RampInterpolatorTransform3Dd

public RampInterpolatorTransform3Dd(long cPtr,
                                    boolean cMemoryOwn)

RampInterpolatorTransform3Dd

public RampInterpolatorTransform3Dd(Transform3Dd start,
                                    Transform3Dd end,
                                    Transform3Dd vellimits,
                                    Transform3Dd 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.

RampInterpolatorTransform3Dd

public RampInterpolatorTransform3Dd(Transform3Dd start,
                                    Transform3Dd end,
                                    Transform3Dd vellimits,
                                    Transform3Dd 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(RampInterpolatorTransform3Dd obj)

delete

public void delete()

Overrides:

delete in class InterpolatorSE3

x

public Transform3Dd x(double t)

Overrides:

x in class InterpolatorSE3

dx

public Transform3Dd dx(double t)

Overrides:

dx in class InterpolatorSE3

ddx

public Transform3Dd ddx(double t)

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