Package org.robwork.sdurw_trajectory

Class TrajectorySequenceTransform3DPtr

java.lang.Object

org.robwork.sdurw_trajectory.TrajectorySequenceTransform3DPtr

public class TrajectorySequenceTransform3DPtr
extends java.lang.Object

Ptr stores a pointer and optionally takes ownership of the value.

Constructor Summary

Constructors

Constructor	Description
TrajectorySequenceTransform3DPtr()	Default constructor yielding a NULL-pointer.
TrajectorySequenceTransform3DPtr(long cPtr, boolean cMemoryOwn)
TrajectorySequenceTransform3DPtr(TrajectorySequenceTransform3D ptr)	Do not take ownership of ptr. ptr can be null. The constructor is implicit on purpose.

Method Summary

Modifier and Type	Method	Description
TrajectorySequenceTransform3D	__ref__()	Dereferencing operator.
TrajectorySequenceTransform3DCPtr	cptr()
Transform3D	ddx(double t)
void	delete()
TrajectorySequenceTransform3D	deref()	The pointer stored in the object.
double	duration()
Transform3D	dx(double t)
double	endTime()	Returns the endTime of the trajectory. The end time equals startTime() + duration().
boolean	equals(TrajectorySequenceTransform3D p)
static long	getCPtr(TrajectorySequenceTransform3DPtr obj)
TrajectorySequenceTransform3D	getDeref()	Member access operator.
TrajectoryIteratorTransform3DPtr	getIterator(double dt)
SWIGTYPE_p_std__vectorT_rw__math__Transform3DT_double_t_t	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.
SWIGTYPE_p_std__vectorT_rw__math__Transform3DT_double_t_t	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.
boolean	isNull()	checks if the pointer is null
boolean	isShared()	check if this Ptr has shared ownership or none ownership
double	startTime()
Transform3D	x(double t)

Methods inherited from class java.lang.Object

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

Constructor Detail

TrajectorySequenceTransform3DPtr

public TrajectorySequenceTransform3DPtr(long cPtr,
                                        boolean cMemoryOwn)

TrajectorySequenceTransform3DPtr

public TrajectorySequenceTransform3DPtr()

Default constructor yielding a NULL-pointer.

TrajectorySequenceTransform3DPtr

public TrajectorySequenceTransform3DPtr(TrajectorySequenceTransform3D ptr)

Do not take ownership of ptr.

ptr can be null.

The constructor is implicit on purpose.

Method Detail

getCPtr

public static long getCPtr(TrajectorySequenceTransform3DPtr obj)

delete

public void delete()

deref

public TrajectorySequenceTransform3D deref()

The pointer stored in the object.

__ref__

public TrajectorySequenceTransform3D __ref__()

Dereferencing operator.

getDeref

public TrajectorySequenceTransform3D getDeref()

Member access operator.

equals

public boolean equals(TrajectorySequenceTransform3D p)

isShared

public boolean isShared()

check if this Ptr has shared ownership or none
ownership

Returns:

true if Ptr has shared ownership, false if it has no ownership.

isNull

public boolean isNull()

checks if the pointer is null

Returns:

Returns true if the pointer is null

cptr

public TrajectorySequenceTransform3DCPtr cptr()

x

public Transform3D x(double t)

dx

public Transform3D dx(double t)

ddx

public Transform3D ddx(double t)

duration

public double duration()

startTime

public double startTime()

getIterator

public TrajectoryIteratorTransform3DPtr getIterator(double dt)

endTime

public double endTime()

Returns the endTime of the trajectory.

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

Returns:

The end time

getPath

public SWIGTYPE_p_std__vectorT_rw__math__Transform3DT_double_t_t 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 SWIGTYPE_p_std__vectorT_rw__math__Transform3DT_double_t_t 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.