Package org.robwork.sdurw_trajectory

Class CubicSplineInterpolatorRotation3DPtr

java.lang.Object

org.robwork.sdurw_trajectory.CubicSplineInterpolatorRotation3DPtr

public class CubicSplineInterpolatorRotation3DPtr
extends java.lang.Object

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

Constructor Summary

Constructors

Constructor	Description
CubicSplineInterpolatorRotation3DPtr()	Default constructor yielding a NULL-pointer.
CubicSplineInterpolatorRotation3DPtr(long cPtr, boolean cMemoryOwn)
CubicSplineInterpolatorRotation3DPtr(CubicSplineInterpolatorRotation3D ptr)	Do not take ownership of ptr. ptr can be null. The constructor is implicit on purpose.

Method Summary

Modifier and Type	Method	Description
CubicSplineInterpolatorRotation3D	__ref__()	Dereferencing operator.
CubicSplineInterpolatorRotation3DCPtr	cptr()
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
void	delete()
CubicSplineInterpolatorRotation3D	deref()	The pointer stored in the object.
double	duration()
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
boolean	equals(CubicSplineInterpolatorRotation3D p)
static long	getCPtr(CubicSplineInterpolatorRotation3DPtr obj)
CubicSplineInterpolatorRotation3D	getDeref()	Member access operator.
boolean	isNull()	checks if the pointer is null
boolean	isShared()	check if this Ptr has shared ownership or none ownership
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 java.lang.Object

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

Constructor Detail

CubicSplineInterpolatorRotation3DPtr

public CubicSplineInterpolatorRotation3DPtr(long cPtr,
                                            boolean cMemoryOwn)

CubicSplineInterpolatorRotation3DPtr

public CubicSplineInterpolatorRotation3DPtr()

Default constructor yielding a NULL-pointer.

CubicSplineInterpolatorRotation3DPtr

public CubicSplineInterpolatorRotation3DPtr(CubicSplineInterpolatorRotation3D ptr)

Do not take ownership of ptr.

ptr can be null.

The constructor is implicit on purpose.

Method Detail

getCPtr

public static long getCPtr(CubicSplineInterpolatorRotation3DPtr obj)

delete

public void delete()

deref

public CubicSplineInterpolatorRotation3D deref()

The pointer stored in the object.

__ref__

public CubicSplineInterpolatorRotation3D __ref__()

Dereferencing operator.

getDeref

public CubicSplineInterpolatorRotation3D getDeref()

Member access operator.

equals

public boolean equals(CubicSplineInterpolatorRotation3D 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

cptr

public CubicSplineInterpolatorRotation3DCPtr cptr()

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

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

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

duration

public double duration()