Package org.robwork.sdurw_trajectory

Class TrajectoryIteratorRotation3D

  • public class TrajectoryIteratorRotation3D
extends java.lang.Object
    Bi-directional iterator for running efficiently through a trajectory

    • Method Summary

      All Methods Static Methods Instance Methods Concrete Methods 
      Modifier and Type Method Description
      void addAssign​(double dt)
      This function can be used to increase the iterator position.
      The position can be increased no longer than the length of the
      complete trajectory.
      Rotation3D ddx()
      Extracts a point of the double derivative of the trajectory at the
      current position in the trajectory
      void dec()
      Method for decreasing the position of the iterator a fixed amount

      The decrement is equal to the dt specified in the constructor.
      void dec​(double dt)
      Method for decreasing the position of the iterator a fixed amount
      void delete()  
      Rotation3D dx()
      Extracts a point of the derivative of the trajectory
      at the current position in the trajectory
      static long getCPtr​(TrajectoryIteratorRotation3D obj)  
      double getTime()
      Returns the current position (time) of the iterator
      void inc()
      Method for increasing the position of the iterator a fixed amount

      The increment is equal to the dt specified in the constructor.
      void inc​(double dt)
      Method for increasing the position of the iterator by dt
      boolean isBegin()
      Test if the beginning of the trajectory is reached.
      boolean isEnd()
      Test if the end of the trajectory is reached.
      TrajectoryIteratorRotation3D next()
      Operator overloading ++ for increasing the position of the iterator.

      Usage: ++iterator

      The increment is equal to the dt specified in the constructor.
      void next​(int arg0)
      Operator overloading ++ for increasing the position of the iterator.

      Usage: iterator++

      The increment is equal to the dt specified in the constructor.
      Rotation3D point()
      Extracts a point at the current position in the trajectory.
      TrajectoryIteratorRotation3D prev()
      Operator overloading -- for decreasing the position of the iterator.

      Usage: --iterator;

      The decrement is equal to the dt specified in the constructor.
      void prev​(int arg0)
      Operator overloading -- for decreasing the position of the iterator.

      Usage: iterator--;

      The decrement is equal to the dt specified in the constructor.
      void subtractAssign​(double dt)
      This function can be used to decrease the iterator position.
      The position can be decreased no longer than to time equals 0.
      Rotation3D x()
      Extracts a point at the current position in the trajectory.

      • Methods inherited from class java.lang.Object

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

    • Constructor Detail

      • TrajectoryIteratorRotation3D

        public TrajectoryIteratorRotation3D​(long cPtr,
                                    boolean cMemoryOwn)

    • Method Detail

      • delete

        public void delete()

      • getTime

        public double getTime()
        Returns the current position (time) of the iterator
        Returns:
        The current time.

      • inc

        public void inc()
        Method for increasing the position of the iterator a fixed amount

        The increment is equal to the dt specified in the constructor.

      • inc

        public void inc​(double dt)
        Method for increasing the position of the iterator by dt

        Parameters:
        dt - [in] Amount to increase. A positive value is expected.

      • dec

        public void dec()
        Method for decreasing the position of the iterator a fixed amount

        The decrement is equal to the dt specified in the constructor.

      • dec

        public void dec​(double dt)
        Method for decreasing the position of the iterator a fixed amount

        Parameters:
        dt - [in] Amount to decrease. A positive value is expected

      • subtractAssign

        public void subtractAssign​(double dt)
        This function can be used to decrease the iterator position.
        The position can be decreased no longer than to time equals 0.

        Parameters:
        dt - [in] a double that describes how much to decrease the
        iterator position

      • addAssign

        public void addAssign​(double dt)
        This function can be used to increase the iterator position.
        The position can be increased no longer than the length of the
        complete trajectory.

        Parameters:
        dt - [in] a double that describes how much to increase the
        iterator position

      • next

        public TrajectoryIteratorRotation3D next()
        Operator overloading ++ for increasing the position of the iterator.

        Usage: ++iterator

        The increment is equal to the dt specified in the constructor.
        Returns:
        Reference to the TrajectoryIterator

      • next

        public void next​(int arg0)
        Operator overloading ++ for increasing the position of the iterator.

        Usage: iterator++

        The increment is equal to the dt specified in the constructor.

      • prev

        public TrajectoryIteratorRotation3D prev()
        Operator overloading -- for decreasing the position of the iterator.

        Usage: --iterator;

        The decrement is equal to the dt specified in the constructor.
        Returns:
        Reference to the TrajectoryIterator

      • prev

        public void prev​(int arg0)
        Operator overloading -- for decreasing the position of the iterator.

        Usage: iterator--;

        The decrement is equal to the dt specified in the constructor.

      • isEnd

        public boolean isEnd()
        Test if the end of the trajectory is reached.

        Returns:
        true if the iterator has reached the end of the trajectory false
        otherwise.

      • isBegin

        public boolean isBegin()
        Test if the beginning of the trajectory is reached.

        Returns:
        true if the iterator has reached the beginning of the trajectory
        false otherwise.

      • point

        public Rotation3D point()
        Extracts a point at the current position in the trajectory.

        Returns:
        the point at the current position in the trajectory.

      • x

        public Rotation3D x()
        Extracts a point at the current position in the trajectory.

        Returns:
        the point at the current position in the trajectory.

      • dx

        public Rotation3D dx()
        Extracts a point of the derivative of the trajectory
        at the current position in the trajectory

        Returns:
        the derived point at the current position in the trajectory.

      • ddx

        public Rotation3D ddx()
        Extracts a point of the double derivative of the trajectory at the
        current position in the trajectory

        Returns:
        the double derived point at the current position in the trajectory.