Package org.robwork.sdurw_trajectory

Class TrajectoryTransform3DCPtr

  • public class TrajectoryTransform3DCPtr
extends java.lang.Object
    Ptr stores a pointer and optionally takes ownership of the value.

    • Method Summary

      All Methods Static Methods Instance Methods Concrete Methods 
      Modifier and Type Method Description
      TrajectoryTransform3D __ref__()
      Dereferencing operator.
      Transform3D ddx​(double t)
      Acceleration of trajectory at time t

      Returns the acceleration of the trajectory at time t \in[startTime(), endTime()].
      void delete()  
      TrajectoryTransform3D deref()
      The pointer stored in the object.
      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()].
      double endTime()
      Returns the endTime of the trajectory.

      The end time equals startTime() + duration().
      boolean equals​(TrajectoryTransform3D p)  
      static long getCPtr​(TrajectoryTransform3DCPtr obj)  
      TrajectoryTransform3D getDeref()
      Member access operator.
      TrajectoryIteratorTransform3DPtr 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.
      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.
      boolean isNull()
      checks if the pointer is null
      boolean isShared()
      check if this Ptr has shared ownership or none
      ownership
      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

      • TrajectoryTransform3DCPtr

        public TrajectoryTransform3DCPtr​(long cPtr,
                                 boolean cMemoryOwn)

      • TrajectoryTransform3DCPtr

        public TrajectoryTransform3DCPtr()
        Default constructor yielding a NULL-pointer.

      • TrajectoryTransform3DCPtr

        public TrajectoryTransform3DCPtr​(TrajectoryTransform3D ptr)
        Do not take ownership of ptr.

        ptr can be null.

        The constructor is implicit on purpose.

    • Method Detail

      • delete

        public void delete()

      • 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

      • x

        public Transform3D 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 Transform3D 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 Transform3D 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

      • getIterator

        public 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.

        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 TrajectoryIteratorTransform3DPtr 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.