Package org.robwork.sdurw_trajectory
Class CubicSplineInterpolatorRotation3D
- java.lang.Object
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- org.robwork.sdurw_trajectory.InterpolatorRotation3D
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- org.robwork.sdurw_trajectory.CubicSplineInterpolatorRotation3D
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public class CubicSplineInterpolatorRotation3D extends InterpolatorRotation3D
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
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Constructor Summary
Constructors Constructor Description CubicSplineInterpolatorRotation3D(long cPtr, boolean cMemoryOwn)
CubicSplineInterpolatorRotation3D(Rotation3D a, Rotation3D b, Rotation3D c, Rotation3D d, double duration)
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Method Summary
All Methods Static Methods Instance Methods Concrete Methods Modifier and Type Method Description Rotation3D
ddx(double t)
Note: The second derivative is a 1-degree polynomial:
\bf{df}(t)= 2\cdot \bf{c} + 6\cdot \bf{d}\cdot tvoid
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.Rotation3D
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^2static long
getCPtr(CubicSplineInterpolatorRotation3D obj)
Rotation3D
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 org.robwork.sdurw_trajectory.InterpolatorRotation3D
getCPtr
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Constructor Detail
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CubicSplineInterpolatorRotation3D
public CubicSplineInterpolatorRotation3D(long cPtr, boolean cMemoryOwn)
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CubicSplineInterpolatorRotation3D
public CubicSplineInterpolatorRotation3D(Rotation3D a, Rotation3D b, Rotation3D c, Rotation3D d, double duration)
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Method Detail
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getCPtr
public static long getCPtr(CubicSplineInterpolatorRotation3D obj)
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delete
public void delete()
- Overrides:
delete
in classInterpolatorRotation3D
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x
public Rotation3D 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 classInterpolatorRotation3D
- Parameters:
t
- [in] time between 0 and length- Returns:
- Position
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dx
public Rotation3D 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 classInterpolatorRotation3D
- Parameters:
t
- [in] time between 0 and length- Returns:
- Velocity
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ddx
public Rotation3D 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 classInterpolatorRotation3D
- Parameters:
t
- [in] time between 0 and length- Returns:
- Acceleration
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duration
public double duration()
Description copied from class:InterpolatorRotation3D
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 classInterpolatorRotation3D
- Returns:
- duration
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