Package org.robwork.sdurw_trajectory

Class TrajectoryQ

    • Constructor Summary

      Constructors 
      Constructor Description
      TrajectoryQ​(long cPtr, boolean cMemoryOwn)  

    • Method Summary

      All Methods Static Methods Instance Methods Concrete Methods 
      Modifier and Type Method Description
      Q ddx​(double t)
      Acceleration of trajectory at time t

      Returns the acceleration of the trajectory at time t \in[startTime(), endTime()].
      void delete()  
      double duration()
      Total duration of the trajectory.

      The duration of the Trajectory corresponds to the time it takes to
      run through it.

      If the trajectory is empty, then -1 is returned.
      Q dx​(double t)
      Velocity of trajectory at time t

      Returns the velocity of the trajectory at time t \in[startTime(), endTime()].
      double endTime()
      Returns the endTime of the trajectory.

      The end time equals startTime() + duration().
      static long getCPtr​(TrajectoryQ obj)  
      TrajectoryIteratorQPtr getIterator()
      Returns a bi-directional interator for running through the trajectory.

      For some trajectory types it may be significantly more efficient to run through
      using an iterator, rather than using random access.


      Pointer to the iterator.
      TrajectoryIteratorQPtr getIterator​(double dt)
      Returns a bi-directional interator for running through the trajectory.

      For some trajectory types it may be significantly more efficient to run through
      using an iterator, rather than using random access.
      VectorQ getPath​(double dt)
      Constructs a discrete path based on the trajectory.

      If uniform = true the path will be divided into the smallest number of
      uniform steps for which the time stepsize <= dt.

      If uniform = false the path is divided into steps of duration dt, except the
      last interval which may be shorter to include the end point.
      VectorQ getPath​(double dt, boolean uniform)
      Constructs a discrete path based on the trajectory.

      If uniform = true the path will be divided into the smallest number of
      uniform steps for which the time stepsize <= dt.

      If uniform = false the path is divided into steps of duration dt, except the
      last interval which may be shorter to include the end point.
      double startTime()
      Returns the startTime of the trajectory
      Q x​(double t)
      Position of trajectory at time t

      Returns the position of the trajectory at time t \in[startTime(), endTime()].

      • Methods inherited from class java.lang.Object

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

    • Constructor Detail

      • TrajectoryQ

        public TrajectoryQ​(long cPtr,
                   boolean cMemoryOwn)

    • Method Detail

      • getCPtr

        public static long getCPtr​(TrajectoryQ obj)

      • delete

        public void delete()

      • x

        public Q x​(double t)
        Position of trajectory at time t

        Returns the position of the trajectory at time t \in[startTime(), endTime()].

        Parameters:
        t - [in] time between startTime() and endTime()
        Returns:
        Position

      • dx

        public Q dx​(double t)
        Velocity of trajectory at time t

        Returns the velocity of the trajectory at time t \in[startTime(), endTime()].

        Parameters:
        t - [in] time between startTime() and endTime()
        Returns:
        Velocity

      • ddx

        public Q ddx​(double t)
        Acceleration of trajectory at time t

        Returns the acceleration of the trajectory at time t \in[startTime(), endTime()].

        Parameters:
        t - [in] time between startTime() and endTime()
        Returns:
        Acceleration

      • duration

        public double duration()
        Total duration of the trajectory.

        The duration of the Trajectory corresponds to the time it takes to
        run through it.

        If the trajectory is empty, then -1 is returned.

      • startTime

        public double startTime()
        Returns the startTime of the trajectory

        Returns:
        Start time

      • endTime

        public double endTime()
        Returns the endTime of the trajectory.

        The end time equals startTime() + duration().

        Returns:
        The end time

      • getPath

        public VectorQ getPath​(double dt,
                       boolean uniform)
        Constructs a discrete path based on the trajectory.

        If uniform = true the path will be divided into the smallest number of
        uniform steps for which the time stepsize <= dt.

        If uniform = false the path is divided into steps of duration dt, except the
        last interval which may be shorter to include the end point.

        Parameters:
        dt - [in] Step size
        uniform - [in] Whether to sample the path uniformly
        Returns:
        The discrete path.

      • getPath

        public VectorQ getPath​(double dt)
        Constructs a discrete path based on the trajectory.

        If uniform = true the path will be divided into the smallest number of
        uniform steps for which the time stepsize <= dt.

        If uniform = false the path is divided into steps of duration dt, except the
        last interval which may be shorter to include the end point.

        Parameters:
        dt - [in] Step size

        Returns:
        The discrete path.

      • getIterator

        public TrajectoryIteratorQPtr getIterator​(double dt)
        Returns a bi-directional interator for running through the trajectory.

        For some trajectory types it may be significantly more efficient to run through
        using an iterator, rather than using random access.

        Parameters:
        dt - [in] The default time step used when using the ++ or -- operators in the
        iterator
        Pointer to the iterator. The pointer has ownership.

      • getIterator

        public TrajectoryIteratorQPtr getIterator()
        Returns a bi-directional interator for running through the trajectory.

        For some trajectory types it may be significantly more efficient to run through
        using an iterator, rather than using random access.


        Pointer to the iterator. The pointer has ownership.