BlendTransform3D (RobWork Java API Documentation)

java.lang.Object
- org.robwork.sdurw_trajectory.BlendTransform3D

Direct Known Subclasses:

LloydHaywardBlendTransform3D, ParabolicBlendTransform3D
```
public class BlendTransform3D
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

BlendTransform3D(long cPtr, boolean cMemoryOwn)

Method Summary

All Methods Static Methods Instance Methods Concrete Methods
Modifier and Type	Method	Description
`Transform3D`	`ddx(double t)`	The acceleration for a given time t
`void`	`delete()`
`Transform3D`	`dx(double t)`	The velocity for a given time t
`static long`	`getCPtr(BlendTransform3D obj)`
`double`	`tau1()`	The time \tau_1 as defined in class definition
`double`	`tau2()`	The time \tau_2 as defined in class definition
`Transform3D`	`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
  - BlendTransform3D
```
public BlendTransform3D(long cPtr,
                        boolean cMemoryOwn)
```
- Method Detail
  - getCPtr
```
public static long getCPtr(BlendTransform3D obj)
```
  - delete
```
public void delete()
```
  - x
```
public Transform3D 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 Transform3D 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 Transform3D 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