Package org.robwork.sdurw_trajectory

Class TrajectorySequenceTransform3D

  • public class TrajectorySequenceTransform3D
extends TrajectoryTransform3D
    Combines a number of trajectories.

    Takes an arbitrary number of trajectories and combines them. The start time of the first
    trajectory determines the start time of the union. The remaining trajectories are appended
    discardless of their start time. The duration of the union corresponds to the sum of the
    duration of all the trajectories.

    The value returned in the transition between two trajectories, corresponds to the end point
    of the leading trajectory.

    Access to a value is O(lg n) with n being the number of trajectories combined.

    • Method Summary

      All Methods Static Methods Instance Methods Concrete Methods 
      Modifier and Type Method Description
      Transform3D 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.
      Transform3D dx​(double t)
      Velocity of trajectory at time t

      Returns the velocity of the trajectory at time t \in[startTime(), endTime()].
      static long getCPtr​(TrajectorySequenceTransform3D obj)  
      TrajectoryIteratorTransform3DPtr 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.
      double startTime()
      Returns the startTime of the trajectory
      Transform3D 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

      • TrajectorySequenceTransform3D

        public TrajectorySequenceTransform3D​(long cPtr,
                                     boolean cMemoryOwn)

    • Method Detail

      • x

        public Transform3D x​(double t)
        Description copied from class: TrajectoryTransform3D
        Position of trajectory at time t

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

        Overrides:
        x in class TrajectoryTransform3D
        Parameters:
        t - [in] time between startTime() and endTime()
        Returns:
        Position

      • dx

        public Transform3D dx​(double t)
        Description copied from class: TrajectoryTransform3D
        Velocity of trajectory at time t

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

        Overrides:
        dx in class TrajectoryTransform3D
        Parameters:
        t - [in] time between startTime() and endTime()
        Returns:
        Velocity

      • ddx

        public Transform3D ddx​(double t)
        Description copied from class: TrajectoryTransform3D
        Acceleration of trajectory at time t

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

        Overrides:
        ddx in class TrajectoryTransform3D
        Parameters:
        t - [in] time between startTime() and endTime()
        Returns:
        Acceleration

      • duration

        public double duration()
        Description copied from class: TrajectoryTransform3D
        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.
        Overrides:
        duration in class TrajectoryTransform3D

      • getIterator

        public TrajectoryIteratorTransform3DPtr getIterator​(double dt)
        Description copied from class: TrajectoryTransform3D
        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.

        Overrides:
        getIterator in class TrajectoryTransform3D
        Parameters:
        dt - [in] The default time step used when using the ++ or -- operators in the
        iterator
        Pointer to the iterator. The pointer has ownership.