Package org.robwork.sdurw_trajectory

Class LloydHaywardBlendTransform3D

java.lang.Object

org.robwork.sdurw_trajectory.BlendTransform3D

org.robwork.sdurw_trajectory.LloydHaywardBlendTransform3D

public class LloydHaywardBlendTransform3D
extends BlendTransform3D

Implements LloydHayward blending

The LloydHayward blend [1], makes a smooth continous differentiable transition between
two interpolators.

[1]: J. Lloyd, V. Hayward. Real-Time Trajectory Generation Using Blend Functions,
Proc. Int. Conf. on Robotics and Automation, 1991, pp. 784-798.

Constructor Summary

Constructors

Constructor	Description
LloydHaywardBlendTransform3D(long cPtr, boolean cMemoryOwn)
LloydHaywardBlendTransform3D(InterpolatorTransform3D interpolator1, InterpolatorTransform3D interpolator2, double tau)	Constructs LloydHaywardBlend between interpolator1 and interpolator2. The blend starts tau before the end of interpolator1 and finished tau after the start of interpolator2.
LloydHaywardBlendTransform3D(InterpolatorTransform3D interpolator1, InterpolatorTransform3D interpolator2, double tau, double kappa)	Constructs LloydHaywardBlend between interpolator1 and interpolator2. The blend starts tau before the end of interpolator1 and finished tau after the start of interpolator2.

Method Summary

Modifier and Type	Method	Description
Transform3D	ddx(double t)	The acceleration for a given time t
void	delete()
Transform3D	dx(double t)	The velocity for a given time t
static long	getCPtr(LloydHaywardBlendTransform3D obj)
double	kappa()	Returns the kappa value used in the blend
double	tau1()	Note: For ParabolicBlend getTau1()==getTau2()
double	tau2()	Note: For ParabolicBlend getTau1()==getTau2()
Transform3D	x(double t)	<T>::x

Methods inherited from class org.robwork.sdurw_trajectory.BlendTransform3D

getCPtr

Methods inherited from class java.lang.Object

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

Constructor Detail

LloydHaywardBlendTransform3D

public LloydHaywardBlendTransform3D(long cPtr,
                                    boolean cMemoryOwn)

LloydHaywardBlendTransform3D

public LloydHaywardBlendTransform3D(InterpolatorTransform3D interpolator1,
                                    InterpolatorTransform3D interpolator2,
                                    double tau,
                                    double kappa)

Constructs LloydHaywardBlend between interpolator1 and interpolator2.

The blend starts tau before the end of interpolator1 and finished tau after the
start of interpolator2. The constant kappa specifies characteristics of the blend
as described in [1].

Parameters:

interpolator1 - [in] First interpolator, no ownership transferred

interpolator2 - [in] Second interpolator, no ownership transferred

tau - [in] Blend time

kappa - [in] Blend characteristic (default 15/2 for acceleration minimal blend
between linie segments)

LloydHaywardBlendTransform3D

public LloydHaywardBlendTransform3D(InterpolatorTransform3D interpolator1,
                                    InterpolatorTransform3D interpolator2,
                                    double tau)

Constructs LloydHaywardBlend between interpolator1 and interpolator2.

The blend starts tau before the end of interpolator1 and finished tau after the
start of interpolator2. The constant kappa specifies characteristics of the blend
as described in [1].

Parameters:

interpolator1 - [in] First interpolator, no ownership transferred

interpolator2 - [in] Second interpolator, no ownership transferred

tau - [in] Blend time

Method Detail

getCPtr

public static long getCPtr(LloydHaywardBlendTransform3D obj)

delete

public void delete()

Overrides:

delete in class BlendTransform3D

x

public Transform3D x(double t)

<T>::x

Overrides:

x in class BlendTransform3D

Parameters:

t - [in] t\in[0,\tau_1+\tau_2]

Returns:

Position at time t

dx

public Transform3D dx(double t)

Description copied from class: BlendTransform3D

The velocity for a given time t

Overrides:

dx in class BlendTransform3D

Parameters:

t - [in] t\in[0,\tau_1+\tau_2]

Returns:

Velocity at time t

ddx

public Transform3D ddx(double t)

Description copied from class: BlendTransform3D

The acceleration for a given time t

Overrides:

ddx in class BlendTransform3D

Parameters:

t - [in] t\in[0,\tau_1+\tau_2]

Returns:

Acceleration at time t

tau1

public double tau1()

Note: For ParabolicBlend getTau1()==getTau2()

Overrides:

tau1 in class BlendTransform3D

Returns:

\tau_1

tau2

public double tau2()

Note: For ParabolicBlend getTau1()==getTau2()

Overrides:

tau2 in class BlendTransform3D

Returns:

\tau_2

kappa

public double kappa()

Returns the kappa value used in the blend