Package org.robwork.sdurw_trajectory
Class LinearInterpolatorTransform3D
- java.lang.Object
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- org.robwork.sdurw_trajectory.InterpolatorTransform3D
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- org.robwork.sdurw_trajectory.LinearInterpolatorTransform3D
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public class LinearInterpolatorTransform3D extends InterpolatorTransform3D
Make a linear interpolation between to position
Given a start \mathbf{s}, end \mathbf{e} and duration d
the interpolation is implemented as \mathbf{x}(t)=\mathbf{s} + (\mathbf{e}-\mathbf{s})*t/d.
The template argument given needs to support addition with the "+" operator
and scaling with a double using the "*" operator.
For use with a rw::math::Transform3D see the template specialization
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Constructor Summary
Constructors Constructor Description LinearInterpolatorTransform3D(long cPtr, boolean cMemoryOwn)
LinearInterpolatorTransform3D(Transform3D start, Transform3D end, double duration)
Construct LinearInterpolator starting a start and finishing in end
and taking duration time.
If duration <= 0 an exception is thrown
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Method Summary
All Methods Static Methods Instance Methods Concrete Methods Modifier and Type Method Description Transform3D
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.Transform3D
dx(double t)
Velocity at time tstatic long
getCPtr(LinearInterpolatorTransform3D obj)
Transform3D
getEnd()
Returns the end position of the interpolatorTransform3D
getStart()
Returns the start position of the interpolatorTransform3D
x(double t)
Position at time t-
Methods inherited from class org.robwork.sdurw_trajectory.InterpolatorTransform3D
getCPtr
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Constructor Detail
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LinearInterpolatorTransform3D
public LinearInterpolatorTransform3D(long cPtr, boolean cMemoryOwn)
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LinearInterpolatorTransform3D
public LinearInterpolatorTransform3D(Transform3D start, Transform3D end, double duration)
Construct LinearInterpolator starting a start and finishing in end
and taking duration time.
If duration <= 0 an exception is thrown
- Parameters:
start
- [in] Start of interpolatorend
- [in] End of interpolatorduration
- [in] Time it takes to from one end to the other.
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Method Detail
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getCPtr
public static long getCPtr(LinearInterpolatorTransform3D obj)
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delete
public void delete()
- Overrides:
delete
in classInterpolatorTransform3D
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x
public Transform3D x(double t)
Description copied from class:InterpolatorTransform3D
Position at time t- Overrides:
x
in classInterpolatorTransform3D
- Parameters:
t
- [in] time between 0 and length- Returns:
- Position
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dx
public Transform3D dx(double t)
Description copied from class:InterpolatorTransform3D
Velocity at time t- Overrides:
dx
in classInterpolatorTransform3D
- Parameters:
t
- [in] time between 0 and length- Returns:
- Velocity
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ddx
public Transform3D ddx(double t)
Description copied from class:InterpolatorTransform3D
Acceleration at time t- Overrides:
ddx
in classInterpolatorTransform3D
- Parameters:
t
- [in] time between 0 and length- Returns:
- Acceleration
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getStart
public Transform3D getStart()
Returns the start position of the interpolator- Returns:
- The start position of the interpolator
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getEnd
public Transform3D getEnd()
Returns the end position of the interpolator- Returns:
- The end position of the interpolator
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duration
public double duration()
Description copied from class:InterpolatorTransform3D
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.- Overrides:
duration
in classInterpolatorTransform3D
- Returns:
- duration
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