Package org.robwork.sdurw_trajectory

Class CubicSplineInterpolatorQCPtr

java.lang.Object

org.robwork.sdurw_trajectory.CubicSplineInterpolatorQCPtr

public class CubicSplineInterpolatorQCPtr
extends java.lang.Object

Ptr stores a pointer and optionally takes ownership of the value.

Constructor Summary

Constructors

Constructor	Description
CubicSplineInterpolatorQCPtr()	Default constructor yielding a NULL-pointer.
CubicSplineInterpolatorQCPtr(long cPtr, boolean cMemoryOwn)
CubicSplineInterpolatorQCPtr(CubicSplineInterpolatorQ ptr)	Do not take ownership of ptr. ptr can be null. The constructor is implicit on purpose.

Method Summary

Modifier and Type	Method	Description
CubicSplineInterpolatorQ	__ref__()	Dereferencing operator.
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()
CubicSplineInterpolatorQ	deref()	The pointer stored in the object.
double	duration()
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
boolean	equals(CubicSplineInterpolatorQ p)
static long	getCPtr(CubicSplineInterpolatorQCPtr obj)
CubicSplineInterpolatorQ	getDeref()	Member access operator.
boolean	isNull()	checks if the pointer is null
boolean	isShared()	check if this Ptr has shared ownership or none ownership
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

CubicSplineInterpolatorQCPtr

public CubicSplineInterpolatorQCPtr(long cPtr,
                                    boolean cMemoryOwn)

CubicSplineInterpolatorQCPtr

public CubicSplineInterpolatorQCPtr()

Default constructor yielding a NULL-pointer.

CubicSplineInterpolatorQCPtr

public CubicSplineInterpolatorQCPtr(CubicSplineInterpolatorQ ptr)

Do not take ownership of ptr.

ptr can be null.

The constructor is implicit on purpose.

Method Detail

getCPtr

public static long getCPtr(CubicSplineInterpolatorQCPtr obj)

delete

public void delete()

deref

public CubicSplineInterpolatorQ deref()

The pointer stored in the object.

__ref__

public CubicSplineInterpolatorQ __ref__()

Dereferencing operator.

getDeref

public CubicSplineInterpolatorQ getDeref()

Member access operator.

equals

public boolean equals(CubicSplineInterpolatorQ p)

isShared

public boolean isShared()

check if this Ptr has shared ownership or none
ownership

Returns:

true if Ptr has shared ownership, false if it has no ownership.

isNull

public boolean isNull()

checks if the pointer is null

Returns:

Returns true if the pointer is null

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

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

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

duration

public double duration()