Package org.robwork.sdurw_trajectory
Class InterpolatorTrajectoryTransform3DVectorPtr
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- org.robwork.sdurw_trajectory.InterpolatorTrajectoryTransform3DVectorPtr
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public class InterpolatorTrajectoryTransform3DVectorPtr extends java.lang.Object
Ptr stores a pointer and optionally takes ownership of the value.
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Constructor Summary
Constructors Constructor Description InterpolatorTrajectoryTransform3DVectorPtr()
Default constructor yielding a NULL-pointer.InterpolatorTrajectoryTransform3DVectorPtr(long cPtr, boolean cMemoryOwn)
InterpolatorTrajectoryTransform3DVectorPtr(InterpolatorTrajectoryTransform3DVector ptr)
Do not take ownership of ptr.
ptr can be null.
The constructor is implicit on purpose.
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Method Summary
All Methods Static Methods Instance Methods Concrete Methods Modifier and Type Method Description InterpolatorTrajectoryTransform3DVector
__ref__()
Dereferencing operator.void
add(InterpolatorTrajectoryTransform3DVector 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(SWIGTYPE_p_rw__core__PtrT_rw__trajectory__BlendT_rw__math__Transform3DVectorT_double_t_t_t blend, SWIGTYPE_p_rw__core__PtrT_rw__trajectory__InterpolatorT_rw__math__Transform3DVectorT_double_t_t_t 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(SWIGTYPE_p_rw__core__PtrT_rw__trajectory__InterpolatorT_rw__math__Transform3DVectorT_double_t_t_t interpolator)
Adds an interpolator to the end of the trajectory.
When adding the interpolator the Trajectory takes ownership.
InterpolatorTrajectoryTransform3DVectorCPtr
cptr()
Transform3DVector
ddx(double t)
void
delete()
InterpolatorTrajectoryTransform3DVector
deref()
The pointer stored in the object.double
duration()
Transform3DVector
dx(double t)
double
endTime()
Returns the endTime of the trajectory.
The end time equals startTime() + duration().
boolean
equals(InterpolatorTrajectoryTransform3DVector p)
static long
getCPtr(InterpolatorTrajectoryTransform3DVectorPtr obj)
InterpolatorTrajectoryTransform3DVector
getDeref()
Member access operator.SWIGTYPE_p_rw__trajectory__TrajectoryIteratorT_rw__math__Transform3DVectorT_double_t_t__Ptr
getIterator()
SWIGTYPE_p_rw__trajectory__TrajectoryIteratorT_rw__math__Transform3DVectorT_double_t_t__Ptr
getIterator(double dt)
VectorTransform3dVector
getPath(double dt)
Constructs a discrete path based on the trajectory.
If uniform = true the path will be divided into the smallest number of
uniform steps for which the time stepsize <= dt.
If uniform = false the path is divided into steps of duration dt, except the
last interval which may be shorter to include the end point.
VectorTransform3dVector
getPath(double dt, boolean uniform)
Constructs a discrete path based on the trajectory.
If uniform = true the path will be divided into the smallest number of
uniform steps for which the time stepsize <= dt.
If uniform = false the path is divided into steps of duration dt, except the
last interval which may be shorter to include the end point.
SegmentTransform3DVector
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 interpolatorboolean
isNull()
checks if the pointer is nullboolean
isShared()
check if this Ptr has shared ownership or none
ownershipdouble
startTime()
Transform3DVector
x(double t)
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Constructor Detail
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InterpolatorTrajectoryTransform3DVectorPtr
public InterpolatorTrajectoryTransform3DVectorPtr(long cPtr, boolean cMemoryOwn)
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InterpolatorTrajectoryTransform3DVectorPtr
public InterpolatorTrajectoryTransform3DVectorPtr()
Default constructor yielding a NULL-pointer.
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InterpolatorTrajectoryTransform3DVectorPtr
public InterpolatorTrajectoryTransform3DVectorPtr(InterpolatorTrajectoryTransform3DVector ptr)
Do not take ownership of ptr.
ptr can be null.
The constructor is implicit on purpose.
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Method Detail
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getCPtr
public static long getCPtr(InterpolatorTrajectoryTransform3DVectorPtr obj)
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delete
public void delete()
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deref
public InterpolatorTrajectoryTransform3DVector deref()
The pointer stored in the object.
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__ref__
public InterpolatorTrajectoryTransform3DVector __ref__()
Dereferencing operator.
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getDeref
public InterpolatorTrajectoryTransform3DVector getDeref()
Member access operator.
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equals
public boolean equals(InterpolatorTrajectoryTransform3DVector p)
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isShared
public boolean isShared()
check if this Ptr has shared ownership or none
ownership- Returns:
- true if Ptr has shared ownership, false if it has no ownership.
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isNull
public boolean isNull()
checks if the pointer is null- Returns:
- Returns true if the pointer is null
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cptr
public InterpolatorTrajectoryTransform3DVectorCPtr cptr()
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x
public Transform3DVector x(double t)
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dx
public Transform3DVector dx(double t)
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ddx
public Transform3DVector ddx(double t)
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duration
public double duration()
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startTime
public double startTime()
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getIterator
public SWIGTYPE_p_rw__trajectory__TrajectoryIteratorT_rw__math__Transform3DVectorT_double_t_t__Ptr getIterator(double dt)
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getIterator
public SWIGTYPE_p_rw__trajectory__TrajectoryIteratorT_rw__math__Transform3DVectorT_double_t_t__Ptr getIterator()
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add
public void add(SWIGTYPE_p_rw__core__PtrT_rw__trajectory__InterpolatorT_rw__math__Transform3DVectorT_double_t_t_t 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
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add
public void add(SWIGTYPE_p_rw__core__PtrT_rw__trajectory__BlendT_rw__math__Transform3DVectorT_double_t_t_t blend, SWIGTYPE_p_rw__core__PtrT_rw__trajectory__InterpolatorT_rw__math__Transform3DVectorT_double_t_t_t 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 addinterpolator
- [in] the interpolator to add
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add
public void add(InterpolatorTrajectoryTransform3DVector 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
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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
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getSegment
public SegmentTransform3DVector getSegment(long index)
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endTime
public double endTime()
Returns the endTime of the trajectory.
The end time equals startTime() + duration().
- Returns:
- The end time
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getPath
public VectorTransform3dVector getPath(double dt, boolean uniform)
Constructs a discrete path based on the trajectory.
If uniform = true the path will be divided into the smallest number of
uniform steps for which the time stepsize <= dt.
If uniform = false the path is divided into steps of duration dt, except the
last interval which may be shorter to include the end point.
- Parameters:
dt
- [in] Step sizeuniform
- [in] Whether to sample the path uniformly- Returns:
- The discrete path.
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getPath
public VectorTransform3dVector getPath(double dt)
Constructs a discrete path based on the trajectory.
If uniform = true the path will be divided into the smallest number of
uniform steps for which the time stepsize <= dt.
If uniform = false the path is divided into steps of duration dt, except the
last interval which may be shorter to include the end point.
- Parameters:
dt
- [in] Step size
- Returns:
- The discrete path.
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