Package org.robwork.sdurw_trajectory

Class TrajectoryTransform3DVector_f

java.lang.Object

org.robwork.sdurw_trajectory.TrajectoryTransform3DVector_f

Direct Known Subclasses:

InterpolatorTrajectoryTransform3DVector_f

public class TrajectoryTransform3DVector_f
extends java.lang.Object

Interface for Trajectories in RobWork

Constructor Summary

Constructors

Constructor	Description
TrajectoryTransform3DVector_f(long cPtr, boolean cMemoryOwn)

Method Summary

Modifier and Type	Method	Description
Transform3DVector_f	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_f	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_f obj)
SWIGTYPE_p_rw__trajectory__TrajectoryIteratorT_rw__math__Transform3DVectorT_float_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_float_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.
SWIGTYPE_p_std__vectorT_rw__math__Transform3DVectorT_float_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__Transform3DVectorT_float_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.
double	startTime()	Returns the startTime of the trajectory
Transform3DVector_f	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_f

public TrajectoryTransform3DVector_f(long cPtr,
                                     boolean cMemoryOwn)

Method Detail

getCPtr

public static long getCPtr(TrajectoryTransform3DVector_f obj)

delete

public void delete()

x

public Transform3DVector_f 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_f 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_f 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 SWIGTYPE_p_std__vectorT_rw__math__Transform3DVectorT_float_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__Transform3DVectorT_float_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.

getIterator

public SWIGTYPE_p_rw__trajectory__TrajectoryIteratorT_rw__math__Transform3DVectorT_float_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.

getIterator

public SWIGTYPE_p_rw__trajectory__TrajectoryIteratorT_rw__math__Transform3DVectorT_float_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. The pointer has ownership.