Class RampInterpolatorRotation3D_f


  • public class RampInterpolatorRotation3D_f
    extends InterpolatorRotation3D_f
    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 Detail

      • RampInterpolatorRotation3D_f

        public RampInterpolatorRotation3D_f​(long cPtr,
                                            boolean cMemoryOwn)
      • RampInterpolatorRotation3D_f

        public RampInterpolatorRotation3D_f​(Rotation3Df start,
                                            Rotation3Df end,
                                            Rotation3Df vellimits,
                                            Rotation3Df 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.
      • RampInterpolatorRotation3D_f

        public RampInterpolatorRotation3D_f​(Rotation3Df start,
                                            Rotation3Df end,
                                            Rotation3Df vellimits,
                                            Rotation3Df 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