Package org.robwork.sdurw_trajectory

Class CubicSplineInterpolatorQ

  • public class CubicSplineInterpolatorQ
extends InterpolatorQ
    This class represents a 3-degree polynomial function, used
    in Cubic Splines hence the name CubicSegment.

    \bf{f}(t)= \bf{a} + \bf{b}\cdot t + \bf{c}\cdot t^2 \bf{d}\cdot t^3

    • Method Summary

      All Methods Static Methods Instance Methods Concrete Methods 
      Modifier and Type Method Description
      Q ddx​(double t)


      Note: The second derivative is a 1-degree polynomial:
      \bf{df}(t)= 2\cdot \bf{c} + 6\cdot \bf{d}\cdot t
      void delete()  
      double duration()
      Returns the duration of the interpolator

      The duration is defined as the time it takes to move from one end
      of the interpolator to the other.
      Q dx​(double t)


      Note: The derivative is a 2-degree polynomial:
      \bf{df}(t)= \bf{b} + 2\cdot \bf{c}\cdot t + 3\cdot \bf{d}\cdot t^2
      static long getCPtr​(CubicSplineInterpolatorQ obj)  
      Q x​(double t)


      Note: The cubic polynomial is given by a 3-degree polynomial:
      \bf{f}(t)= \bf{a} + \bf{b}\cdot t + \bf{c}\cdot t^2 \bf{d}\cdot t^3

      • Methods inherited from class java.lang.Object

        equals, getClass, hashCode, notify, notifyAll, toString, wait, wait, wait

    • Constructor Detail

      • CubicSplineInterpolatorQ

        public CubicSplineInterpolatorQ​(long cPtr,
                                boolean cMemoryOwn)

      • CubicSplineInterpolatorQ

        public CubicSplineInterpolatorQ​(Q a,
                                Q b,
                                Q c,
                                Q d,
                                double duration)

    • Method Detail

      • x

        public Q x​(double t)


        Note: The cubic polynomial is given by a 3-degree polynomial:
        \bf{f}(t)= \bf{a} + \bf{b}\cdot t + \bf{c}\cdot t^2 \bf{d}\cdot t^3
        Overrides:
        x in class InterpolatorQ
        Parameters:
        t - [in] time between 0 and length
        Returns:
        Position

      • dx

        public Q dx​(double t)


        Note: The derivative is a 2-degree polynomial:
        \bf{df}(t)= \bf{b} + 2\cdot \bf{c}\cdot t + 3\cdot \bf{d}\cdot t^2
        Overrides:
        dx in class InterpolatorQ
        Parameters:
        t - [in] time between 0 and length
        Returns:
        Velocity

      • ddx

        public Q ddx​(double t)


        Note: The second derivative is a 1-degree polynomial:
        \bf{df}(t)= 2\cdot \bf{c} + 6\cdot \bf{d}\cdot t
        Overrides:
        ddx in class InterpolatorQ
        Parameters:
        t - [in] time between 0 and length
        Returns:
        Acceleration

      • duration

        public double duration()
        Description copied from class: InterpolatorQ
        Returns the duration of the interpolator

        The duration is defined as the time it takes to move from one end
        of the interpolator to the other.
        Overrides:
        duration in class InterpolatorQ
        Returns:
        duration