Package org.robwork.sdurw_trajectory

Class CubicSplineInterpolator_d

  • public class CubicSplineInterpolator_d
extends Interpolator_d
    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

    • Method Summary

      All Methods Static Methods Instance Methods Concrete Methods 
      Modifier and Type Method Description
      double 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.
      double 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​(CubicSplineInterpolator_d obj)  
      double 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

      • CubicSplineInterpolator_d

        public CubicSplineInterpolator_d​(long cPtr,
                                 boolean cMemoryOwn)

      • CubicSplineInterpolator_d

        public CubicSplineInterpolator_d​(double a,
                                 double b,
                                 double c,
                                 double d,
                                 double duration)

    • Method Detail

      • x

        public double 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 Interpolator_d
        Parameters:
        t - [in] time between 0 and length
        Returns:
        Position

      • dx

        public double 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 Interpolator_d
        Parameters:
        t - [in] time between 0 and length
        Returns:
        Velocity

      • ddx

        public double 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 Interpolator_d
        Parameters:
        t - [in] time between 0 and length
        Returns:
        Acceleration

      • duration

        public double duration()
        Description copied from class: Interpolator_d
        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 Interpolator_d
        Returns:
        duration