Package org.robwork.sdurw_trajectory

Class TrajectoryTransform3DVector

    • Method Summary

      All Methods Static Methods Instance Methods Concrete Methods 
      Modifier and Type Method Description
      Transform3DVector 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.
      Transform3DVector 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​(TrajectoryTransform3DVector obj)  
      SWIGTYPE_p_rw__trajectory__TrajectoryIteratorT_rw__math__Transform3DVectorT_double_t_t__Ptr 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.
      SWIGTYPE_p_rw__trajectory__TrajectoryIteratorT_rw__math__Transform3DVectorT_double_t_t__Ptr 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.
      VectorTransform3dVector 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.
      VectorTransform3dVector 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
      Transform3DVector 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

      • TrajectoryTransform3DVector

        public TrajectoryTransform3DVector​(long cPtr,
                                   boolean cMemoryOwn)

    • Method Detail

      • delete

        public void delete()

      • x

        public Transform3DVector 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 Transform3DVector 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 Transform3DVector 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 VectorTransform3dVector 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 VectorTransform3dVector 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 SWIGTYPE_p_rw__trajectory__TrajectoryIteratorT_rw__math__Transform3DVectorT_double_t_t__Ptr 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.