Package org.robwork.sdurw_trajectory

Class RampInterpolatorTransform3D

java.lang.Object

org.robwork.sdurw_trajectory.InterpolatorTransform3D

org.robwork.sdurw_trajectory.RampInterpolatorTransform3D

public class RampInterpolatorTransform3D
extends InterpolatorTransform3D

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
RampInterpolatorTransform3D(long cPtr, boolean cMemoryOwn)
RampInterpolatorTransform3D(Transform3D start, Transform3D end, Transform3D vellimits, Transform3D acclimits)	Construct RampInterpolator starting at start and finishing in end with velocity limits vellimimts and acceleration limits acclimits.
RampInterpolatorTransform3D(Transform3D start, Transform3D end, Transform3D vellimits, Transform3D acclimits, double duration)	Construct RampInterpolator starting at start and finishing in end with velocity limits vellimimts and acceleration limits acclimits.

Method Summary

Modifier and Type	Method	Description
Transform3D	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.
Transform3D	dx(double t)	Velocity at time t
static long	getCPtr(RampInterpolatorTransform3D obj)
Transform3D	getEnd()	Returns the end position of the interpolator
Transform3D	getStart()	Returns the start position of the interpolator
Transform3D	x(double t)	Position at time t

Methods inherited from class org.robwork.sdurw_trajectory.InterpolatorTransform3D

getCPtr

Methods inherited from class java.lang.Object

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

Constructor Detail

RampInterpolatorTransform3D

public RampInterpolatorTransform3D(long cPtr,
                                   boolean cMemoryOwn)

RampInterpolatorTransform3D

public RampInterpolatorTransform3D(Transform3D start,
                                   Transform3D end,
                                   Transform3D vellimits,
                                   Transform3D 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.

RampInterpolatorTransform3D

public RampInterpolatorTransform3D(Transform3D start,
                                   Transform3D end,
                                   Transform3D vellimits,
                                   Transform3D 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

getCPtr

public static long getCPtr(RampInterpolatorTransform3D obj)

delete

public void delete()

Overrides:

delete in class InterpolatorTransform3D

x

public Transform3D x(double t)

Description copied from class: InterpolatorTransform3D

Position at time t

Overrides:

x in class InterpolatorTransform3D

Parameters:

t - [in] time between 0 and length

Returns:

Position

dx

public Transform3D dx(double t)

Description copied from class: InterpolatorTransform3D

Velocity at time t

Overrides:

dx in class InterpolatorTransform3D

Parameters:

t - [in] time between 0 and length

Returns:

Velocity

ddx

public Transform3D ddx(double t)

Description copied from class: InterpolatorTransform3D

Acceleration at time t

Overrides:

ddx in class InterpolatorTransform3D

Parameters:

t - [in] time between 0 and length

Returns:

Acceleration

getStart

public Transform3D getStart()

Returns the start position of the interpolator

Returns:

The start position of the interpolator

getEnd

public Transform3D getEnd()

Returns the end position of the interpolator

Returns:

The end position of the interpolator

duration

public double duration()

Description copied from class: InterpolatorTransform3D

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 InterpolatorTransform3D

Returns:

duration