Package org.robwork.sdurw_trajectory

Class CubicSplineInterpolatorTransform3DPtr

java.lang.Object

org.robwork.sdurw_trajectory.CubicSplineInterpolatorTransform3DPtr

public class CubicSplineInterpolatorTransform3DPtr
extends java.lang.Object

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

Constructor Summary

Constructors

Constructor	Description
CubicSplineInterpolatorTransform3DPtr()	Default constructor yielding a NULL-pointer.
CubicSplineInterpolatorTransform3DPtr(long cPtr, boolean cMemoryOwn)
CubicSplineInterpolatorTransform3DPtr(CubicSplineInterpolatorTransform3D ptr)	Do not take ownership of ptr. ptr can be null. The constructor is implicit on purpose.

Method Summary

Modifier and Type	Method	Description
CubicSplineInterpolatorTransform3D	__ref__()	Dereferencing operator.
CubicSplineInterpolatorTransform3DCPtr	cptr()
Transform3D	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()
CubicSplineInterpolatorTransform3D	deref()	The pointer stored in the object.
double	duration()
Transform3D	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(CubicSplineInterpolatorTransform3D p)
static long	getCPtr(CubicSplineInterpolatorTransform3DPtr obj)
CubicSplineInterpolatorTransform3D	getDeref()	Member access operator.
boolean	isNull()	checks if the pointer is null
boolean	isShared()	check if this Ptr has shared ownership or none ownership
Transform3D	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

CubicSplineInterpolatorTransform3DPtr

public CubicSplineInterpolatorTransform3DPtr(long cPtr,
                                             boolean cMemoryOwn)

CubicSplineInterpolatorTransform3DPtr

public CubicSplineInterpolatorTransform3DPtr()

Default constructor yielding a NULL-pointer.

CubicSplineInterpolatorTransform3DPtr

public CubicSplineInterpolatorTransform3DPtr(CubicSplineInterpolatorTransform3D ptr)

Do not take ownership of ptr.

ptr can be null.

The constructor is implicit on purpose.

Method Detail

getCPtr

public static long getCPtr(CubicSplineInterpolatorTransform3DPtr obj)

delete

public void delete()

deref

public CubicSplineInterpolatorTransform3D deref()

The pointer stored in the object.

__ref__

public CubicSplineInterpolatorTransform3D __ref__()

Dereferencing operator.

getDeref

public CubicSplineInterpolatorTransform3D getDeref()

Member access operator.

equals

public boolean equals(CubicSplineInterpolatorTransform3D 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 CubicSplineInterpolatorTransform3DCPtr cptr()

x

public Transform3D 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 Transform3D 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 Transform3D 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()