Interpolator_d (RobWork Java API Documentation)

java.lang.Object
- org.robwork.sdurw_trajectory.Interpolator_d

Direct Known Subclasses:

CubicSplineInterpolator_d, LinearInterpolator_d, RampInterpolator_d
```
public class Interpolator_d
extends java.lang.Object
```
Interface for interpolators

See the specific implementations for more details

Constructor Summary

Constructors
Constructor Description

Interpolator_d(long cPtr, boolean cMemoryOwn)

Method Summary

All Methods Static Methods Instance Methods Concrete Methods
Modifier and Type	Method	Description
`double`	`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.
`double`	`dx(double t)`	Velocity at time t
`static long`	`getCPtr(Interpolator_d obj)`
`double`	`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
  - Interpolator_d
```
public Interpolator_d(long cPtr,
                      boolean cMemoryOwn)
```
- Method Detail
  - getCPtr
```
public static long getCPtr(Interpolator_d obj)
```
  - delete
```
public void delete()
```
  - x
```
public double x(double t)
```
    Position at time t
    
    Parameters:
    
    t - [in] time between 0 and length
    
    Returns:
    
    Position
  - dx
```
public double dx(double t)
```
    Velocity at time t
    
    Parameters:
    
    t - [in] time between 0 and length
    
    Returns:
    
    Velocity
  - ddx
```
public double 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