Package org.robwork.sdurw_trajectory

Class RampInterpolatorQ

  • public class RampInterpolatorQ
extends InterpolatorQ
    Make a ramp interpolation between two position

    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

    • Constructor Summary

      Constructors 
      Constructor Description
      RampInterpolatorQ​(long cPtr, boolean cMemoryOwn)  
      RampInterpolatorQ​(Q start, Q end, Q vellimits, Q acclimits)
      Construct RampInterpolator starting at start and finishing in end
      with velocity limits vellimimts and acceleration limits acclimits.
      RampInterpolatorQ​(Q start, Q end, Q vellimits, Q acclimits, double duration)
      Construct RampInterpolator starting at start and finishing in end
      with velocity limits vellimimts and acceleration limits acclimits.

    • Method Summary

      All Methods Static Methods Instance Methods Concrete Methods 
      Modifier and Type Method Description
      Q 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.
      Q dx​(double t)
      Velocity at time t
      static long getCPtr​(RampInterpolatorQ obj)  
      Q getEnd()
      Returns the end position of the interpolator
      Q getStart()
      Returns the start position of the interpolator
      Q 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

      • RampInterpolatorQ

        public RampInterpolatorQ​(long cPtr,
                         boolean cMemoryOwn)

      • RampInterpolatorQ

        public RampInterpolatorQ​(Q start,
                         Q end,
                         Q vellimits,
                         Q acclimits,
                         double duration)
        Construct RampInterpolator starting at start and finishing in end
        with velocity limits vellimimts and acceleration limits acclimits. The duration
        will be calculated automatically. The start and end velocity and acceleration is zero.

        If duration is not achievable given the velocity and acceleration limits then
        the duration will be extended.
        Parameters:
        start - [in] Start of interpolator
        end - [in] End of interpolator
        vellimits - [in] velocity limits
        acclimits - [in] acceleration limits
        duration - [in] Time it takes to from one end to the other.

      • RampInterpolatorQ

        public RampInterpolatorQ​(Q start,
                         Q end,
                         Q vellimits,
                         Q acclimits)
        Construct RampInterpolator starting at start and finishing in end
        with velocity limits vellimimts and acceleration limits acclimits. The duration
        will be calculated automatically. The start and end velocity and acceleration is zero.

        If duration is not achievable given the velocity and acceleration limits then
        the duration will be extended.
        Parameters:
        start - [in] Start of interpolator
        end - [in] End of interpolator
        vellimits - [in] velocity limits
        acclimits - [in] acceleration limits

    • Method Detail

      • x

        public Q x​(double t)
        Description copied from class: InterpolatorQ
        Position at time t
        Overrides:
        x in class InterpolatorQ
        Parameters:
        t - [in] time between 0 and length
        Returns:
        Position

      • dx

        public Q dx​(double t)
        Description copied from class: InterpolatorQ
        Velocity at time t
        Overrides:
        dx in class InterpolatorQ
        Parameters:
        t - [in] time between 0 and length
        Returns:
        Velocity

      • ddx

        public Q ddx​(double t)
        Description copied from class: InterpolatorQ
        Acceleration at time t
        Overrides:
        ddx in class InterpolatorQ
        Parameters:
        t - [in] time between 0 and length
        Returns:
        Acceleration

      • getStart

        public Q getStart()
        Returns the start position of the interpolator
        Returns:
        The start position of the interpolator

      • getEnd

        public Q getEnd()
        Returns the end position of the interpolator
        Returns:
        The end position of the interpolator

      • duration

        public double duration()
        Description copied from class: InterpolatorQ
        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 class InterpolatorQ
        Returns:
        duration