Package org.robwork.sdurw_trajectory

Class InterpolatorTrajectoryTransform3D

  • public class InterpolatorTrajectoryTransform3D
extends TrajectoryTransform3D
    Sequence of interpolators and blends giving a trajectory

    A trajectory is defined as a sequence of interpolators and blends.
    Multiple interpolators can follow each other, whereas a Blend must be
    preceded and followed by interpolators.

    The length of a Trajectory is defined as the time it takes to go from
    start to finish.

    When performing random queries the trajectory needs to do a binary search
    through all interpolators and blend, giving the random access an O(lg n)
    complexity.

    For accessing multiple consecutive values use TrajectoryInterpolator.

    Example of usage:
    Transform3D<> T1(Vector3D<>(0,0,0), EAA<>(0,0,0)); Transform3D<> T2(Vector3D<>(1,1,0), EAA<>(1,1,0)); Transform3D<> T3(Vector3D<>(2,0,0), EAA<>(2,2,0)); LinearInterpolator<Transform3D<> >::Ptr cartInt1 = ownedPtr(new LinearInterpolator<Transform3D<> >(T1, T2, 1)); LinearInterpolator<Transform3D<> >::Ptr cartInt2 = ownedPtr(new LinearInterpolator<Transform3D<> >(T2, T3, 1)); ParabolicBlend<Transform3D<> >::Ptr blend1 = ownedPtr(new ParabolicBlend<Transform3D<> >(cartInt1, cartInt2, 0.25)); InterpolatorTrajectory<Transform3D<> > trajectory; trajectory.add(cartInt1); trajectory.add(blend1, cartInt2); std::ofstream out("test.dat"); for (double t = 0; t<=trajectory.duration(); t += dt) { Transform3D<> x = trajectory.x(t); out<<t<<" "<<x.P()(0)<<" "<<x.P()(1)<<" "<<x.P()(2)<<std::endl; } out.close();

    • Method Summary

      All Methods Static Methods Instance Methods Concrete Methods 
      Modifier and Type Method Description
      void add​(BlendTransform3DPtr blend, InterpolatorTransform3DPtr interpolator)
      Adds a blend and an interpolator to the trajectory.

      The Blend added is used to blend between what was previously the last
      Interpolator of the trajectory onto interpolator, which become the
      new last interpolator of the trajectory.
      void add​(InterpolatorTrajectoryTransform3D trajectory)
      Append trajectory to the end

      When adding a Trajectory all interpolators and blends of
      trajectory is added in sequence.

      Ownership of the interpolator and blends are shared using
      std::shared_ptr
      void add​(InterpolatorTransform3DPtr interpolator)
      Adds an interpolator to the end of the trajectory.

      When adding the interpolator the Trajectory takes ownership.
      Transform3D ddx​(double t)
      Acceleration of trajectory at time t

      Returns the acceleration of the trajectory at time t \in[startTime(), endTime()].
      void delete()  
      double duration()
      Total duration of the trajectory.

      The duration of the Trajectory corresponds to the time it takes to
      run through it.

      If the trajectory is empty, then -1 is returned.
      Transform3D dx​(double t)
      Velocity of trajectory at time t

      Returns the velocity of the trajectory at time t \in[startTime(), endTime()].
      static long getCPtr​(InterpolatorTrajectoryTransform3D obj)  
      TrajectoryIteratorTransform3DPtr getIterator()
      Returns a bi-directional interator for running through the trajectory.

      For some trajectory types it may be significantly more efficient to run through
      using an iterator, rather than using random access.


      Pointer to the iterator.
      TrajectoryIteratorTransform3DPtr getIterator​(double dt)
      Returns a bi-directional interator for running through the trajectory.

      For some trajectory types it may be significantly more efficient to run through
      using an iterator, rather than using random access.
      SegmentTransform3D getSegment​(long index)  
      long getSegmentsCount()
      Returns the number of segments

      A segment contains a description interpolator and the blend used to blend from the
      previous interpolator
      double startTime()
      Returns the startTime of the trajectory
      Transform3D x​(double t)
      Position of trajectory at time t

      Returns the position of the trajectory at time t \in[startTime(), endTime()].

      • Methods inherited from class java.lang.Object

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

    • Constructor Detail

      • InterpolatorTrajectoryTransform3D

        public InterpolatorTrajectoryTransform3D​(long cPtr,
                                         boolean cMemoryOwn)

      • InterpolatorTrajectoryTransform3D

        public InterpolatorTrajectoryTransform3D​(double startTime)
        Construct an empty trajectory

      • InterpolatorTrajectoryTransform3D

        public InterpolatorTrajectoryTransform3D()
        Construct an empty trajectory

    • Method Detail

      • x

        public Transform3D x​(double t)
        Description copied from class: TrajectoryTransform3D
        Position of trajectory at time t

        Returns the position of the trajectory at time t \in[startTime(), endTime()].

        Overrides:
        x in class TrajectoryTransform3D
        Parameters:
        t - [in] time between startTime() and endTime()
        Returns:
        Position

      • dx

        public Transform3D dx​(double t)
        Description copied from class: TrajectoryTransform3D
        Velocity of trajectory at time t

        Returns the velocity of the trajectory at time t \in[startTime(), endTime()].

        Overrides:
        dx in class TrajectoryTransform3D
        Parameters:
        t - [in] time between startTime() and endTime()
        Returns:
        Velocity

      • ddx

        public Transform3D ddx​(double t)
        Description copied from class: TrajectoryTransform3D
        Acceleration of trajectory at time t

        Returns the acceleration of the trajectory at time t \in[startTime(), endTime()].

        Overrides:
        ddx in class TrajectoryTransform3D
        Parameters:
        t - [in] time between startTime() and endTime()
        Returns:
        Acceleration

      • duration

        public double duration()
        Description copied from class: TrajectoryTransform3D
        Total duration of the trajectory.

        The duration of the Trajectory corresponds to the time it takes to
        run through it.

        If the trajectory is empty, then -1 is returned.
        Overrides:
        duration in class TrajectoryTransform3D

      • getIterator

        public TrajectoryIteratorTransform3DPtr getIterator​(double dt)
        Description copied from class: TrajectoryTransform3D
        Returns a bi-directional interator for running through the trajectory.

        For some trajectory types it may be significantly more efficient to run through
        using an iterator, rather than using random access.

        Overrides:
        getIterator in class TrajectoryTransform3D
        Parameters:
        dt - [in] The default time step used when using the ++ or -- operators in the
        iterator
        Pointer to the iterator. The pointer has ownership.

      • getIterator

        public TrajectoryIteratorTransform3DPtr getIterator()
        Description copied from class: TrajectoryTransform3D
        Returns a bi-directional interator for running through the trajectory.

        For some trajectory types it may be significantly more efficient to run through
        using an iterator, rather than using random access.


        Pointer to the iterator. The pointer has ownership.
        Overrides:
        getIterator in class TrajectoryTransform3D

      • add

        public void add​(InterpolatorTransform3DPtr interpolator)
        Adds an interpolator to the end of the trajectory.

        When adding the interpolator the Trajectory takes ownership.

        Parameters:
        interpolator - [in] The interpolator to add

      • add

        public void add​(BlendTransform3DPtr blend,
                InterpolatorTransform3DPtr interpolator)
        Adds a blend and an interpolator to the trajectory.

        The Blend added is used to blend between what was previously the last
        Interpolator of the trajectory onto interpolator, which become the
        new last interpolator of the trajectory.
        Parameters:
        blend - [in] the blend to add
        interpolator - [in] the interpolator to add

      • add

        public void add​(InterpolatorTrajectoryTransform3D trajectory)
        Append trajectory to the end

        When adding a Trajectory all interpolators and blends of
        trajectory is added in sequence.

        Ownership of the interpolator and blends are shared using
        std::shared_ptr

        Parameters:
        trajectory - [in] Trajectory to append

      • getSegmentsCount

        public long getSegmentsCount()
        Returns the number of segments

        A segment contains a description interpolator and the blend used to blend from the
        previous interpolator