Package org.robwork.sdurw_trajectory

Class RampInterpolatorVector2D

java.lang.Object

org.robwork.sdurw_trajectory.InterpolatorVector2D

org.robwork.sdurw_trajectory.RampInterpolatorVector2D

public class RampInterpolatorVector2D
extends InterpolatorVector2D

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
RampInterpolatorVector2D(long cPtr, boolean cMemoryOwn)
RampInterpolatorVector2D(Vector2D start, Vector2D end, Vector2D vellimits, Vector2D acclimits)	Construct RampInterpolator starting at start and finishing in end with velocity limits vellimimts and acceleration limits acclimits.
RampInterpolatorVector2D(Vector2D start, Vector2D end, Vector2D vellimits, Vector2D 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
Vector2D	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.
Vector2D	dx(double t)	Velocity at time t
static long	getCPtr(RampInterpolatorVector2D obj)
Vector2D	getEnd()	Returns the end position of the interpolator
Vector2D	getStart()	Returns the start position of the interpolator
Vector2D	x(double t)	Position at time t

Methods inherited from class org.robwork.sdurw_trajectory.InterpolatorVector2D

getCPtr

Methods inherited from class java.lang.Object

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

Constructor Detail

RampInterpolatorVector2D

public RampInterpolatorVector2D(long cPtr,
                                boolean cMemoryOwn)

RampInterpolatorVector2D

public RampInterpolatorVector2D(Vector2D start,
                                Vector2D end,
                                Vector2D vellimits,
                                Vector2D 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.

RampInterpolatorVector2D

public RampInterpolatorVector2D(Vector2D start,
                                Vector2D end,
                                Vector2D vellimits,
                                Vector2D 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(RampInterpolatorVector2D obj)

delete

public void delete()

Overrides:

delete in class InterpolatorVector2D

x

public Vector2D x(double t)

Description copied from class: InterpolatorVector2D

Position at time t

Overrides:

x in class InterpolatorVector2D

Parameters:

t - [in] time between 0 and length

Returns:

Position

dx

public Vector2D dx(double t)

Description copied from class: InterpolatorVector2D

Velocity at time t

Overrides:

dx in class InterpolatorVector2D

Parameters:

t - [in] time between 0 and length

Returns:

Velocity

ddx

public Vector2D ddx(double t)

Description copied from class: InterpolatorVector2D

Acceleration at time t

Overrides:

ddx in class InterpolatorVector2D

Parameters:

t - [in] time between 0 and length

Returns:

Acceleration

getStart

public Vector2D getStart()

Returns the start position of the interpolator

Returns:

The start position of the interpolator

getEnd

public Vector2D getEnd()

Returns the end position of the interpolator

Returns:

The end position of the interpolator

duration

public double duration()

Description copied from class: InterpolatorVector2D

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 InterpolatorVector2D

Returns:

duration