Package org.robwork.sdurw_trajectory
Class TrajectoryVector2D
- java.lang.Object
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- org.robwork.sdurw_trajectory.TrajectoryVector2D
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- Direct Known Subclasses:
InterpolatorTrajectoryVector2D
,TrajectorySequenceVector2D
public class TrajectoryVector2D extends java.lang.Object
Interface for Trajectories in RobWork
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Constructor Summary
Constructors Constructor Description TrajectoryVector2D(long cPtr, boolean cMemoryOwn)
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Method Summary
All Methods Static Methods Instance Methods Concrete Methods Modifier and Type Method Description Vector2D
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.Vector2D
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(TrajectoryVector2D obj)
TrajectoryIteratorVector2DPtr
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.TrajectoryIteratorVector2DPtr
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__Vector2DT_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__Vector2DT_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.
double
startTime()
Returns the startTime of the trajectory
Vector2D
x(double t)
Position of trajectory at time t
Returns the position of the trajectory at time t \in[startTime(), endTime()].
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Method Detail
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getCPtr
public static long getCPtr(TrajectoryVector2D obj)
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delete
public void delete()
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x
public Vector2D 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
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dx
public Vector2D 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
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ddx
public Vector2D 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
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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.
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startTime
public double startTime()
Returns the startTime of the trajectory
- Returns:
- Start time
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endTime
public double endTime()
Returns the endTime of the trajectory.
The end time equals startTime() + duration().
- Returns:
- The end time
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getPath
public SWIGTYPE_p_std__vectorT_rw__math__Vector2DT_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 sizeuniform
- [in] Whether to sample the path uniformly- Returns:
- The discrete path.
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getPath
public SWIGTYPE_p_std__vectorT_rw__math__Vector2DT_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.
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getIterator
public TrajectoryIteratorVector2DPtr 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.
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getIterator
public TrajectoryIteratorVector2DPtr 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.
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