Package org.robwork.sdurw_trajectory
Class InterpolatorRotation3D_f
- java.lang.Object
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- org.robwork.sdurw_trajectory.InterpolatorRotation3D_f
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- Direct Known Subclasses:
CubicSplineInterpolatorRotation3D_f
,LinearInterpolatorRotation3D_f
,RampInterpolatorRotation3D_f
public class InterpolatorRotation3D_f extends java.lang.Object
Interface for interpolators
See the specific implementations for more details
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Constructor Summary
Constructors Constructor Description InterpolatorRotation3D_f(long cPtr, boolean cMemoryOwn)
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Method Summary
All Methods Static Methods Instance Methods Concrete Methods Modifier and Type Method Description Rotation3Df
ddx(double t)
Acceleration at time 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.Rotation3Df
dx(double t)
Velocity at time tstatic long
getCPtr(InterpolatorRotation3D_f obj)
Rotation3Df
x(double t)
Position at time t
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Method Detail
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getCPtr
public static long getCPtr(InterpolatorRotation3D_f obj)
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delete
public void delete()
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x
public Rotation3Df x(double t)
Position at time t- Parameters:
t
- [in] time between 0 and length- Returns:
- Position
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dx
public Rotation3Df dx(double t)
Velocity at time t- Parameters:
t
- [in] time between 0 and length- Returns:
- Velocity
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ddx
public Rotation3Df ddx(double t)
Acceleration at time t- Parameters:
t
- [in] time between 0 and length- Returns:
- Acceleration
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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
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