Package org.robwork.sdurw_trajectory

Class RampInterpolator_d

    • Constructor Summary

      Constructors 
      Constructor Description
      RampInterpolator_d​(double start, double end, double velLimit, double accLimit)
      Construct RampInterpolator starting a start and finishing in end.
      RampInterpolator_d​(long cPtr, boolean cMemoryOwn)  

    • Method Summary

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

      • RampInterpolator_d

        public RampInterpolator_d​(long cPtr,
                          boolean cMemoryOwn)

      • RampInterpolator_d

        public RampInterpolator_d​(double start,
                          double end,
                          double velLimit,
                          double accLimit)
        Construct RampInterpolator starting a start and finishing in end.

        Parameters:
        start - [in] Start of interpolator
        end - [in] End of interpolator
        velLimit - [in] the max velocity in m/sec
        accLimit - [in] the max acceleration in m/sec^2

    • Method Detail

      • x

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

      • dx

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

      • ddx

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

      • getStart

        public double getStart()
        Returns the start rotation of the interpolator
        Returns:
        The start rotation of the interpolator

      • getEnd

        public double getEnd()
        Returns the end rotation of the interpolator
        Returns:
        The end rotation of the interpolator

      • duration

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