Package org.robwork.sdurw_trajectory

Class LloydHaywardBlendVector2D

java.lang.Object

org.robwork.sdurw_trajectory.BlendVector2D

org.robwork.sdurw_trajectory.LloydHaywardBlendVector2D

public class LloydHaywardBlendVector2D
extends BlendVector2D

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
LloydHaywardBlendVector2D(long cPtr, boolean cMemoryOwn)
LloydHaywardBlendVector2D(InterpolatorVector2D interpolator1, InterpolatorVector2D 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.
LloydHaywardBlendVector2D(InterpolatorVector2D interpolator1, InterpolatorVector2D 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
Vector2D	ddx(double t)	The acceleration for a given time t
void	delete()
Vector2D	dx(double t)	The velocity for a given time t
static long	getCPtr(LloydHaywardBlendVector2D 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()
Vector2D	x(double t)	<T>::x

Methods inherited from class org.robwork.sdurw_trajectory.BlendVector2D

getCPtr

Methods inherited from class java.lang.Object

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

Constructor Detail

LloydHaywardBlendVector2D

public LloydHaywardBlendVector2D(long cPtr,
                                 boolean cMemoryOwn)

LloydHaywardBlendVector2D

public LloydHaywardBlendVector2D(InterpolatorVector2D interpolator1,
                                 InterpolatorVector2D 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)

LloydHaywardBlendVector2D

public LloydHaywardBlendVector2D(InterpolatorVector2D interpolator1,
                                 InterpolatorVector2D 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(LloydHaywardBlendVector2D obj)

delete

public void delete()

Overrides:

delete in class BlendVector2D

x

public Vector2D x(double t)

<T>::x

Overrides:

x in class BlendVector2D

Parameters:

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

Returns:

Position at time t

dx

public Vector2D dx(double t)

Description copied from class: BlendVector2D

The velocity for a given time t

Overrides:

dx in class BlendVector2D

Parameters:

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

Returns:

Velocity at time t

ddx

public Vector2D ddx(double t)

Description copied from class: BlendVector2D

The acceleration for a given time t

Overrides:

ddx in class BlendVector2D

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 BlendVector2D

Returns:

\tau_1

tau2

public double tau2()

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

Overrides:

tau2 in class BlendVector2D

Returns:

\tau_2

kappa

public double kappa()

Returns the kappa value used in the blend