BlendTransform3D_f (RobWork Java API Documentation)

java.lang.Object
- org.robwork.sdurw_trajectory.BlendTransform3D_f

Direct Known Subclasses:

LloydHaywardBlendTransform3D_f, ParabolicBlendTransform3D_f
```
public class BlendTransform3D_f
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_f(long cPtr, boolean cMemoryOwn)

Method Summary

All Methods Static Methods Instance Methods Concrete Methods
Modifier and Type	Method	Description
`Transform3Df`	`ddx(double t)`	The acceleration for a given time t
`void`	`delete()`
`Transform3Df`	`dx(double t)`	The velocity for a given time t
`static long`	`getCPtr(BlendTransform3D_f obj)`
`double`	`tau1()`	The time \tau_1 as defined in class definition
`double`	`tau2()`	The time \tau_2 as defined in class definition
`Transform3Df`	`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_f
```
public BlendTransform3D_f(long cPtr,
                          boolean cMemoryOwn)
```
- Method Detail
  - getCPtr
```
public static long getCPtr(BlendTransform3D_f obj)
```
  - delete
```
public void delete()
```
  - x
```
public Transform3Df 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 Transform3Df 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 Transform3Df 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