Package org.robwork.sdurw_trajectory

Class CubicSplineInterpolatorVector2DCPtr

java.lang.Object

org.robwork.sdurw_trajectory.CubicSplineInterpolatorVector2DCPtr

public class CubicSplineInterpolatorVector2DCPtr
extends java.lang.Object

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

Constructor Summary

Constructors

Constructor	Description
CubicSplineInterpolatorVector2DCPtr()	Default constructor yielding a NULL-pointer.
CubicSplineInterpolatorVector2DCPtr(long cPtr, boolean cMemoryOwn)
CubicSplineInterpolatorVector2DCPtr(CubicSplineInterpolatorVector2D ptr)	Do not take ownership of ptr. ptr can be null. The constructor is implicit on purpose.

Method Summary

Modifier and Type	Method	Description
CubicSplineInterpolatorVector2D	__ref__()	Dereferencing operator.
Vector2D	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()
CubicSplineInterpolatorVector2D	deref()	The pointer stored in the object.
double	duration()
Vector2D	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(CubicSplineInterpolatorVector2D p)
static long	getCPtr(CubicSplineInterpolatorVector2DCPtr obj)
CubicSplineInterpolatorVector2D	getDeref()	Member access operator.
boolean	isNull()	checks if the pointer is null
boolean	isShared()	check if this Ptr has shared ownership or none ownership
Vector2D	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

CubicSplineInterpolatorVector2DCPtr

public CubicSplineInterpolatorVector2DCPtr(long cPtr,
                                           boolean cMemoryOwn)

CubicSplineInterpolatorVector2DCPtr

public CubicSplineInterpolatorVector2DCPtr()

Default constructor yielding a NULL-pointer.

CubicSplineInterpolatorVector2DCPtr

public CubicSplineInterpolatorVector2DCPtr(CubicSplineInterpolatorVector2D ptr)

Do not take ownership of ptr.

ptr can be null.

The constructor is implicit on purpose.

Method Detail

getCPtr

public static long getCPtr(CubicSplineInterpolatorVector2DCPtr obj)

delete

public void delete()

deref

public CubicSplineInterpolatorVector2D deref()

The pointer stored in the object.

__ref__

public CubicSplineInterpolatorVector2D __ref__()

Dereferencing operator.

getDeref

public CubicSplineInterpolatorVector2D getDeref()

Member access operator.

equals

public boolean equals(CubicSplineInterpolatorVector2D 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

x

public Vector2D 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 Vector2D 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 Vector2D 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()