Package org.robwork.sdurw_trajectory

Class ParabolicBlendVector3D

java.lang.Object

org.robwork.sdurw_trajectory.BlendVector3D

org.robwork.sdurw_trajectory.ParabolicBlendVector3D

public class ParabolicBlendVector3D
extends BlendVector3D

Implements a parabolic blend

A parabolic blend is characterized by a constant acceleration through the blend. The current
implementation only supports blending between linear segments.

Constructor Summary

Constructors

Constructor	Description
ParabolicBlendVector3D(long cPtr, boolean cMemoryOwn)
ParabolicBlendVector3D(LinearInterpolatorVector3DCPtr line1, LinearInterpolatorVector3DCPtr line2, double tau)	Constructs parabolic blend between line1 and line2 with tau as blend time.
ParabolicBlendVector3D(LinearInterpolatorVector3DPtr line1, LinearInterpolatorVector3DPtr line2, double tau)	Constructs parabolic blend between line1 and line2 with tau as blend time.
ParabolicBlendVector3D(LinearInterpolatorVector3D line1, LinearInterpolatorVector3D line2, double tau)	Constructs parabolic blend between line1 and line2 with tau as blend time

Method Summary

Modifier and Type	Method	Description
Vector3D	ddx(double t)	Conditional comment: End of conditional comment.
void	delete()
double	duration()	get the duration of the blend
Vector3D	dx(double t)	Conditional comment: End of conditional comment.
static long	getCPtr(ParabolicBlendVector3D obj)
double	tau1()	Conditional comment: End of conditional comment. Note: For ParabolicBlend tau1()==tau2()
double	tau2()	Conditional comment: End of conditional comment. Note: For ParabolicBlend tau1()==tau2()
Vector3D	x(double t)	Conditional comment: End of conditional comment.

Methods inherited from class org.robwork.sdurw_trajectory.BlendVector3D

getCPtr

Methods inherited from class java.lang.Object

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

Constructor Detail

ParabolicBlendVector3D

public ParabolicBlendVector3D(long cPtr,
                              boolean cMemoryOwn)

ParabolicBlendVector3D

public ParabolicBlendVector3D(LinearInterpolatorVector3D line1,
                              LinearInterpolatorVector3D line2,
                              double tau)

Constructs parabolic blend between line1 and line2 with tau
as blend time

Parameters:

line1 - [in] First segment

line2 - [in] Second segment

tau - [in] Blend time

ParabolicBlendVector3D

public ParabolicBlendVector3D(LinearInterpolatorVector3DCPtr line1,
                              LinearInterpolatorVector3DCPtr line2,
                              double tau)

Constructs parabolic blend between line1 and line2 with tau
as blend time. The segments is copied for internal storage

Parameters:

line1 - [in] First segment

line2 - [in] Second segment

tau - [in] Blend time

ParabolicBlendVector3D

public ParabolicBlendVector3D(LinearInterpolatorVector3DPtr line1,
                              LinearInterpolatorVector3DPtr line2,
                              double tau)

Constructs parabolic blend between line1 and line2 with tau
as blend time. The segments is copied for internal storage

Parameters:

line1 - [in] First segment

line2 - [in] Second segment

tau - [in] Blend time

Method Detail

getCPtr

public static long getCPtr(ParabolicBlendVector3D obj)

delete

public void delete()

Overrides:

delete in class BlendVector3D

x

public Vector3D x(double t)

Conditional comment:

End of conditional comment.

Overrides:

x in class BlendVector3D

Parameters:

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

Returns:

Position at time t

dx

public Vector3D dx(double t)

Conditional comment:

End of conditional comment.

Overrides:

dx in class BlendVector3D

Parameters:

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

Returns:

Velocity at time t

ddx

public Vector3D ddx(double t)

Conditional comment:

End of conditional comment.

Overrides:

ddx in class BlendVector3D

Parameters:

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

Returns:

Acceleration at time t

duration

public double duration()

get the duration of the blend

Returns:

duration

tau1

public double tau1()

Conditional comment:

End of conditional comment.

Note: For ParabolicBlend tau1()==tau2()

Overrides:

tau1 in class BlendVector3D

Returns:

\tau_1

tau2

public double tau2()

Conditional comment:

End of conditional comment.

Note: For ParabolicBlend tau1()==tau2()

Overrides:

tau2 in class BlendVector3D

Returns:

\tau_2