Package org.robwork.sdurw_trajectory

Class InterpolatorVector3D_f

java.lang.Object

org.robwork.sdurw_trajectory.InterpolatorVector3D_f

Direct Known Subclasses:

CircularInterpolatorVector3D_f, CubicSplineInterpolatorVector3D_f, LinearInterpolatorVector3D_f, RampInterpolatorVector3D_f

public class InterpolatorVector3D_f
extends java.lang.Object

Interface for interpolators

See the specific implementations for more details

Constructor Summary

Constructors

Constructor	Description
InterpolatorVector3D_f(long cPtr, boolean cMemoryOwn)

Method Summary

Modifier and Type	Method	Description
Vector3Df	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.
Vector3Df	dx(double t)	Velocity at time t
static long	getCPtr(InterpolatorVector3D_f obj)
Vector3Df	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

InterpolatorVector3D_f

public InterpolatorVector3D_f(long cPtr,
                              boolean cMemoryOwn)

Method Detail

getCPtr

public static long getCPtr(InterpolatorVector3D_f obj)

delete

public void delete()

x

public Vector3Df x(double t)

Position at time t

Parameters:

t - [in] time between 0 and length

Returns:

Position

dx

public Vector3Df dx(double t)

Velocity at time t

Parameters:

t - [in] time between 0 and length

Returns:

Velocity

ddx

public Vector3Df 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