Package org.robwork.sdurw_trajectory
Class CubicSplineInterpolatorVector3D
- java.lang.Object
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- org.robwork.sdurw_trajectory.InterpolatorVector3D
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- org.robwork.sdurw_trajectory.CubicSplineInterpolatorVector3D
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public class CubicSplineInterpolatorVector3D extends InterpolatorVector3D
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 CubicSplineInterpolatorVector3D(long cPtr, boolean cMemoryOwn)
CubicSplineInterpolatorVector3D(Vector3D a, Vector3D b, Vector3D c, Vector3D d, double duration)
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Method Summary
All Methods Static Methods Instance Methods Concrete Methods Modifier and Type Method Description Vector3D
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.Vector3D
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(CubicSplineInterpolatorVector3D obj)
Vector3D
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.InterpolatorVector3D
getCPtr
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Method Detail
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getCPtr
public static long getCPtr(CubicSplineInterpolatorVector3D obj)
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delete
public void delete()
- Overrides:
delete
in classInterpolatorVector3D
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x
public Vector3D 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 classInterpolatorVector3D
- Parameters:
t
- [in] time between 0 and length- Returns:
- Position
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dx
public Vector3D 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 classInterpolatorVector3D
- Parameters:
t
- [in] time between 0 and length- Returns:
- Velocity
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ddx
public Vector3D 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 classInterpolatorVector3D
- Parameters:
t
- [in] time between 0 and length- Returns:
- Acceleration
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duration
public double duration()
Description copied from class:InterpolatorVector3D
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 classInterpolatorVector3D
- Returns:
- duration
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