Class CubicSplineInterpolatorRotation3D_f


  • public class CubicSplineInterpolatorRotation3D_f
    extends InterpolatorRotation3D_f
    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
    • Constructor Detail

      • CubicSplineInterpolatorRotation3D_f

        public CubicSplineInterpolatorRotation3D_f​(long cPtr,
                                                   boolean cMemoryOwn)
    • Method Detail

      • x

        public Rotation3Df 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 InterpolatorRotation3D_f
        Parameters:
        t - [in] time between 0 and length
        Returns:
        Position
      • dx

        public Rotation3Df 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 InterpolatorRotation3D_f
        Parameters:
        t - [in] time between 0 and length
        Returns:
        Velocity
      • ddx

        public Rotation3Df 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 InterpolatorRotation3D_f
        Parameters:
        t - [in] time between 0 and length
        Returns:
        Acceleration
      • duration

        public double duration()
        Description copied from class: InterpolatorRotation3D_f
        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 InterpolatorRotation3D_f
        Returns:
        duration