Package org.robwork.sdurw_trajectory

Class InterpolatorRotation3D

java.lang.Object

org.robwork.sdurw_trajectory.InterpolatorRotation3D

Direct Known Subclasses:

CubicSplineInterpolatorRotation3D, LinearInterpolatorRotation3D, RampInterpolatorRotation3D

public class InterpolatorRotation3D
extends java.lang.Object

Interface for interpolators

See the specific implementations for more details

Constructor Summary

Constructors

Constructor	Description
InterpolatorRotation3D(long cPtr, boolean cMemoryOwn)

Method Summary

Modifier and Type	Method	Description
Rotation3D	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.
Rotation3D	dx(double t)	Velocity at time t
static long	getCPtr(InterpolatorRotation3D obj)
Rotation3D	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

InterpolatorRotation3D

public InterpolatorRotation3D(long cPtr,
                              boolean cMemoryOwn)

Method Detail

getCPtr

public static long getCPtr(InterpolatorRotation3D obj)

delete

public void delete()

x

public Rotation3D x(double t)

Position at time t

Parameters:

t - [in] time between 0 and length

Returns:

Position

dx

public Rotation3D dx(double t)

Velocity at time t

Parameters:

t - [in] time between 0 and length

Returns:

Velocity

ddx

public Rotation3D 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