Package org.robwork.sdurw_trajectory

Class TimeMetricUtil

  • public class TimeMetricUtil
extends java.lang.Object
    methods for analyzing time distance of various paths

    • Method Summary

      All Methods Static Methods Instance Methods Concrete Methods 
      Modifier and Type Method Description
      void delete()  
      static long getCPtr​(TimeMetricUtil obj)  
      static double timeDistance​(State from, State to, Device device)
      The time it takes to move from from to to in a straight
      line with the maximum velocities given of device.
      static double timeDistance​(State from, State to, WorkCell workcell)
      The time it takes to move from from to to in a straight line
      with maximum device velocities given by workcell.
      static double timeDistance​(Q from, Q to, Q velocity)
      The time it takes to move from from to to in a straight line
      with maximum velocities velocity.

      This is an example of a scaled max-norm.
      static double timeDistance​(Q from, Q to, Device device)
      The time it takes to move from from to to in a straight
      line with the maximum velocities given of device.

      • Methods inherited from class java.lang.Object

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

    • Constructor Detail

      • TimeMetricUtil

        public TimeMetricUtil​(long cPtr,
                      boolean cMemoryOwn)

      • TimeMetricUtil

        public TimeMetricUtil()

    • Method Detail

      • delete

        public void delete()

      • timeDistance

        public static double timeDistance​(State from,
                                  State to,
                                  WorkCell workcell)
        The time it takes to move from from to to in a straight line
        with maximum device velocities given by workcell.

        Parameters:
        from - [in] Start state
        to - [in] End state
        workcell - [in] Workcell associated with the states
        Returns:
        The time

      • timeDistance

        public static double timeDistance​(Q from,
                                  Q to,
                                  Q velocity)
        The time it takes to move from from to to in a straight line
        with maximum velocities velocity.

        This is an example of a scaled max-norm.

        Parameters:
        from - [in] Start configuration
        to - [in] End configurationp
        velocity - [in] Max velocity of the joints
        Returns:
        The time

      • timeDistance

        public static double timeDistance​(Q from,
                                  Q to,
                                  Device device)
        The time it takes to move from from to to in a straight
        line with the maximum velocities given of device.

        Parameters:
        from - [in] Start configuration
        to - [in] End configuration
        device - [in] The device to time for
        Returns:
        The time

      • timeDistance

        public static double timeDistance​(State from,
                                  State to,
                                  Device device)
        The time it takes to move from from to to in a straight
        line with the maximum velocities given of device.

        Parameters:
        from - [in] Start state
        to - [in] End state
        device - [in] The device to time for
        Returns:
        The time