InterpolatorQ (RobWork Java API Documentation)

java.lang.Object
- org.robwork.sdurw_trajectory.InterpolatorQ

Direct Known Subclasses:

CubicSplineInterpolatorQ, LinearInterpolatorQ, RampInterpolatorQ
```
public class InterpolatorQ
extends java.lang.Object
```
Interface for interpolators

See the specific implementations for more details

Constructor Summary

Constructors
Constructor Description

InterpolatorQ(long cPtr, boolean cMemoryOwn)

Method Summary

All Methods Static Methods Instance Methods Concrete Methods
Modifier and Type	Method	Description
`Q`	`ddx(double t)`	Acceleration at time 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.
`Q`	`dx(double t)`	Velocity at time t
`static long`	`getCPtr(InterpolatorQ obj)`
`Q`	`x(double t)`	Position at time t

Methods inherited from class java.lang.Object
equals, getClass, hashCode, notify, notifyAll, toString, wait, wait, wait

- Constructor Detail
  - InterpolatorQ
```
public InterpolatorQ(long cPtr,
                     boolean cMemoryOwn)
```
- Method Detail
  - getCPtr
```
public static long getCPtr(InterpolatorQ obj)
```
  - delete
```
public void delete()
```
  - x
```
public Q x(double t)
```
    Position at time t
    
    Parameters:
    
    t - [in] time between 0 and length
    
    Returns:
    
    Position
  - dx
```
public Q dx(double t)
```
    Velocity at time t
    
    Parameters:
    
    t - [in] time between 0 and length
    
    Returns:
    
    Velocity
  - ddx
```
public Q ddx(double t)
```
    Acceleration at time t
    
    Parameters:
    
    t - [in] time between 0 and length
    
    Returns:
    
    Acceleration
  - duration
```
public 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.
    
    Returns:
    
    duration