Package org.robwork.sdurw_trajectory
Class CubicSplineInterpolatorTransform3D_f
- java.lang.Object
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- org.robwork.sdurw_trajectory.InterpolatorTransform3D_f
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- org.robwork.sdurw_trajectory.CubicSplineInterpolatorTransform3D_f
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public class CubicSplineInterpolatorTransform3D_f extends InterpolatorTransform3D_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
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Constructor Summary
Constructors Constructor Description CubicSplineInterpolatorTransform3D_f(long cPtr, boolean cMemoryOwn)
CubicSplineInterpolatorTransform3D_f(Transform3Df a, Transform3Df b, Transform3Df c, Transform3Df d, double duration)
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Method Summary
All Methods Static Methods Instance Methods Concrete Methods Modifier and Type Method Description Transform3Df
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.Transform3Df
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(CubicSplineInterpolatorTransform3D_f obj)
Transform3Df
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.InterpolatorTransform3D_f
getCPtr
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Constructor Detail
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CubicSplineInterpolatorTransform3D_f
public CubicSplineInterpolatorTransform3D_f(long cPtr, boolean cMemoryOwn)
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CubicSplineInterpolatorTransform3D_f
public CubicSplineInterpolatorTransform3D_f(Transform3Df a, Transform3Df b, Transform3Df c, Transform3Df d, double duration)
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Method Detail
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getCPtr
public static long getCPtr(CubicSplineInterpolatorTransform3D_f obj)
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delete
public void delete()
- Overrides:
delete
in classInterpolatorTransform3D_f
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x
public Transform3Df 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 classInterpolatorTransform3D_f
- Parameters:
t
- [in] time between 0 and length- Returns:
- Position
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dx
public Transform3Df 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 classInterpolatorTransform3D_f
- Parameters:
t
- [in] time between 0 and length- Returns:
- Velocity
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ddx
public Transform3Df 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 classInterpolatorTransform3D_f
- Parameters:
t
- [in] time between 0 and length- Returns:
- Acceleration
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duration
public double duration()
Description copied from class:InterpolatorTransform3D_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 classInterpolatorTransform3D_f
- Returns:
- duration
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