Package org.robwork.sdurw_trajectory

Class BlendRotation3D

  • Direct Known Subclasses:
    LloydHaywardBlendRotation3D, ParabolicBlendRotation3D
    public class BlendRotation3D
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
      BlendRotation3D​(long cPtr, boolean cMemoryOwn)  

    • Method Summary

      All Methods Static Methods Instance Methods Concrete Methods 
      Modifier and Type Method Description
      Rotation3D ddx​(double t)
      The acceleration for a given time t
      void delete()  
      Rotation3D dx​(double t)
      The velocity for a given time t
      static long getCPtr​(BlendRotation3D obj)  
      double tau1()
      The time \tau_1 as defined in class definition
      double tau2()
      The time \tau_2 as defined in class definition
      Rotation3D 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

      • BlendRotation3D

        public BlendRotation3D​(long cPtr,
                       boolean cMemoryOwn)

    • Method Detail

      • delete

        public void delete()

      • x

        public Rotation3D 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 Rotation3D 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 Rotation3D 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