Class BlendQ

  • Direct Known Subclasses:
    LloydHaywardBlendQ, ParabolicBlendQ

    public class BlendQ
    extends java.lang.Object
    Interface for blending

    A Blend describes a way to blend between to consecutive interpolators. If we let
    t_1 be the time switching from one interpolator to the next, then the blend
    control the path in the interval [t_1-\tau_1;t_1+\tau_2].

    See the specific implementations for at description of which template
    arguments that are valid.
    • Constructor Summary

      Constructors 
      Constructor Description
      BlendQ​(long cPtr, boolean cMemoryOwn)  
    • Method Summary

      All Methods Static Methods Instance Methods Concrete Methods 
      Modifier and Type Method Description
      Q ddx​(double t)
      The acceleration for a given time t
      void delete()  
      Q dx​(double t)
      The velocity for a given time t
      static long getCPtr​(BlendQ obj)  
      double tau1()
      The time \tau_1 as defined in class definition
      double tau2()
      The time \tau_2 as defined in class definition
      Q x​(double t)
      The position for a given time t
      • Methods inherited from class java.lang.Object

        equals, getClass, hashCode, notify, notifyAll, toString, wait, wait, wait
    • Constructor Detail

      • BlendQ

        public BlendQ​(long cPtr,
                      boolean cMemoryOwn)
    • Method Detail

      • getCPtr

        public static long getCPtr​(BlendQ obj)
      • delete

        public void delete()
      • x

        public Q x​(double t)
        The position for a given time t
        Parameters:
        t - [in] t\in[0,\tau_1+\tau_2]
        Returns:
        Position at time t
      • dx

        public Q dx​(double t)
        The velocity for a given time t
        Parameters:
        t - [in] t\in[0,\tau_1+\tau_2]
        Returns:
        Velocity at time t
      • ddx

        public Q ddx​(double t)
        The acceleration for a given time t
        Parameters:
        t - [in] t\in[0,\tau_1+\tau_2]
        Returns:
        Acceleration at time t
      • tau1

        public double tau1()
        The time \tau_1 as defined in class definition
        Returns:
        \tau_1
      • tau2

        public double tau2()
        The time \tau_2 as defined in class definition
        Returns:
        \tau_2