Package org.robwork.sdurw_trajectory
Class RampInterpolatorTransform3D_f
- java.lang.Object
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- org.robwork.sdurw_trajectory.InterpolatorTransform3D_f
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- org.robwork.sdurw_trajectory.RampInterpolatorTransform3D_f
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public class RampInterpolatorTransform3D_f extends InterpolatorTransform3D_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
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Constructor Summary
Constructors Constructor Description RampInterpolatorTransform3D_f(long cPtr, boolean cMemoryOwn)
RampInterpolatorTransform3D_f(Transform3Df start, Transform3Df end, Transform3Df vellimits, Transform3Df acclimits)
Construct RampInterpolator starting at start and finishing in end
with velocity limits vellimimts and acceleration limits acclimits.RampInterpolatorTransform3D_f(Transform3Df start, Transform3Df end, Transform3Df vellimits, Transform3Df acclimits, double duration)
Construct RampInterpolator starting at start and finishing in end
with velocity limits vellimimts and acceleration limits acclimits.
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Method Summary
All Methods Static Methods Instance Methods Concrete Methods Modifier and Type Method Description Transform3Df
ddx(double t)
Acceleration at time tvoid
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.Transform3Df
dx(double t)
Velocity at time tstatic long
getCPtr(RampInterpolatorTransform3D_f obj)
Transform3Df
getEnd()
Returns the end position of the interpolatorTransform3Df
getStart()
Returns the start position of the interpolatorTransform3Df
x(double t)
Position at time t-
Methods inherited from class org.robwork.sdurw_trajectory.InterpolatorTransform3D_f
getCPtr
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Constructor Detail
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RampInterpolatorTransform3D_f
public RampInterpolatorTransform3D_f(long cPtr, boolean cMemoryOwn)
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RampInterpolatorTransform3D_f
public RampInterpolatorTransform3D_f(Transform3Df start, Transform3Df end, Transform3Df vellimits, Transform3Df 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 interpolatorend
- [in] End of interpolatorvellimits
- [in] velocity limitsacclimits
- [in] acceleration limitsduration
- [in] Time it takes to from one end to the other.
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RampInterpolatorTransform3D_f
public RampInterpolatorTransform3D_f(Transform3Df start, Transform3Df end, Transform3Df vellimits, Transform3Df 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 interpolatorend
- [in] End of interpolatorvellimits
- [in] velocity limitsacclimits
- [in] acceleration limits
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Method Detail
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getCPtr
public static long getCPtr(RampInterpolatorTransform3D_f obj)
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delete
public void delete()
- Overrides:
delete
in classInterpolatorTransform3D_f
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x
public Transform3Df x(double t)
Description copied from class:InterpolatorTransform3D_f
Position at time t- Overrides:
x
in classInterpolatorTransform3D_f
- Parameters:
t
- [in] time between 0 and length- Returns:
- Position
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dx
public Transform3Df dx(double t)
Description copied from class:InterpolatorTransform3D_f
Velocity at time t- Overrides:
dx
in classInterpolatorTransform3D_f
- Parameters:
t
- [in] time between 0 and length- Returns:
- Velocity
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ddx
public Transform3Df ddx(double t)
Description copied from class:InterpolatorTransform3D_f
Acceleration at time t- Overrides:
ddx
in classInterpolatorTransform3D_f
- Parameters:
t
- [in] time between 0 and length- Returns:
- Acceleration
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getStart
public Transform3Df getStart()
Returns the start position of the interpolator- Returns:
- The start position of the interpolator
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getEnd
public Transform3Df getEnd()
Returns the end position of the interpolator- Returns:
- The end position of the interpolator
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duration
public double duration()
Description copied from class:InterpolatorTransform3D_f
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 classInterpolatorTransform3D_f
- Returns:
- duration
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