Package org.robwork.sdurw_trajectory

Class CubicSplineInterpolatorTransform3DVector

java.lang.Object

org.robwork.sdurw_trajectory.InterpolatorTransform3DVector

org.robwork.sdurw_trajectory.CubicSplineInterpolatorTransform3DVector

public class CubicSplineInterpolatorTransform3DVector
extends InterpolatorTransform3DVector

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 Summary

Constructors

Constructor	Description
CubicSplineInterpolatorTransform3DVector(long cPtr, boolean cMemoryOwn)
CubicSplineInterpolatorTransform3DVector(Transform3DVector a, Transform3DVector b, Transform3DVector c, Transform3DVector d, double duration)

Method Summary

Modifier and Type	Method	Description
Transform3DVector	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()
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.
Transform3DVector	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
static long	getCPtr(CubicSplineInterpolatorTransform3DVector obj)
Transform3DVector	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.InterpolatorTransform3DVector

getCPtr

Methods inherited from class java.lang.Object

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

Constructor Detail

CubicSplineInterpolatorTransform3DVector

public CubicSplineInterpolatorTransform3DVector(long cPtr,
                                                boolean cMemoryOwn)

CubicSplineInterpolatorTransform3DVector

public CubicSplineInterpolatorTransform3DVector(Transform3DVector a,
                                                Transform3DVector b,
                                                Transform3DVector c,
                                                Transform3DVector d,
                                                double duration)

Method Detail

getCPtr

public static long getCPtr(CubicSplineInterpolatorTransform3DVector obj)

delete

public void delete()

Overrides:

delete in class InterpolatorTransform3DVector

x

public Transform3DVector 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 InterpolatorTransform3DVector

Parameters:

t - [in] time between 0 and length

Returns:

Position

dx

public Transform3DVector 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 InterpolatorTransform3DVector

Parameters:

t - [in] time between 0 and length

Returns:

Velocity

ddx

public Transform3DVector 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 InterpolatorTransform3DVector

Parameters:

t - [in] time between 0 and length

Returns:

Acceleration

duration

public double duration()

Description copied from class: InterpolatorTransform3DVector

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 InterpolatorTransform3DVector

Returns:

duration