Package org.robwork.sdurw_trajectory

Class CubicSplineInterpolatorVector3DPtr

java.lang.Object

org.robwork.sdurw_trajectory.CubicSplineInterpolatorVector3DPtr

public class CubicSplineInterpolatorVector3DPtr
extends java.lang.Object

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

Constructor Summary

Constructors

Constructor	Description
CubicSplineInterpolatorVector3DPtr()	Default constructor yielding a NULL-pointer.
CubicSplineInterpolatorVector3DPtr(long cPtr, boolean cMemoryOwn)
CubicSplineInterpolatorVector3DPtr(CubicSplineInterpolatorVector3D ptr)	Do not take ownership of ptr. ptr can be null. The constructor is implicit on purpose.

Method Summary

Modifier and Type	Method	Description
CubicSplineInterpolatorVector3D	__ref__()	Dereferencing operator.
CubicSplineInterpolatorVector3DCPtr	cptr()
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
void	delete()
CubicSplineInterpolatorVector3D	deref()	The pointer stored in the object.
double	duration()
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
boolean	equals(CubicSplineInterpolatorVector3D p)
static long	getCPtr(CubicSplineInterpolatorVector3DPtr obj)
CubicSplineInterpolatorVector3D	getDeref()	Member access operator.
boolean	isNull()	checks if the pointer is null
boolean	isShared()	check if this Ptr has shared ownership or none ownership
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 java.lang.Object

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

Constructor Detail

CubicSplineInterpolatorVector3DPtr

public CubicSplineInterpolatorVector3DPtr(long cPtr,
                                          boolean cMemoryOwn)

CubicSplineInterpolatorVector3DPtr

public CubicSplineInterpolatorVector3DPtr()

Default constructor yielding a NULL-pointer.

CubicSplineInterpolatorVector3DPtr

public CubicSplineInterpolatorVector3DPtr(CubicSplineInterpolatorVector3D ptr)

Do not take ownership of ptr.

ptr can be null.

The constructor is implicit on purpose.

Method Detail

getCPtr

public static long getCPtr(CubicSplineInterpolatorVector3DPtr obj)

delete

public void delete()

deref

public CubicSplineInterpolatorVector3D deref()

The pointer stored in the object.

__ref__

public CubicSplineInterpolatorVector3D __ref__()

Dereferencing operator.

getDeref

public CubicSplineInterpolatorVector3D getDeref()

Member access operator.

equals

public boolean equals(CubicSplineInterpolatorVector3D 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 CubicSplineInterpolatorVector3DCPtr cptr()

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

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

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

duration

public double duration()