Package org.robwork.sdurw_trajectory
Class Trajectory_dCPtr
- java.lang.Object
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- org.robwork.sdurw_trajectory.Trajectory_dCPtr
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public class Trajectory_dCPtr extends java.lang.Object
Ptr stores a pointer and optionally takes ownership of the value.
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Constructor Summary
Constructors Constructor Description Trajectory_dCPtr()
Default constructor yielding a NULL-pointer.Trajectory_dCPtr(long cPtr, boolean cMemoryOwn)
Trajectory_dCPtr(Trajectory_d ptr)
Do not take ownership of ptr.
ptr can be null.
The constructor is implicit on purpose.
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Method Summary
All Methods Static Methods Instance Methods Concrete Methods Modifier and Type Method Description Trajectory_d
__ref__()
Dereferencing operator.double
ddx(double t)
Acceleration of trajectory at time t
Returns the acceleration of the trajectory at time t \in[startTime(), endTime()].
void
delete()
Trajectory_d
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.double
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(Trajectory_d p)
static long
getCPtr(Trajectory_dCPtr obj)
Trajectory_d
getDeref()
Member access operator.TrajectoryIterator_dPtr
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.TrajectoryIterator_dPtr
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 nullboolean
isShared()
check if this Ptr has shared ownership or none
ownershipdouble
startTime()
Returns the startTime of the trajectory
double
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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Constructor Detail
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Trajectory_dCPtr
public Trajectory_dCPtr(long cPtr, boolean cMemoryOwn)
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Trajectory_dCPtr
public Trajectory_dCPtr()
Default constructor yielding a NULL-pointer.
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Trajectory_dCPtr
public Trajectory_dCPtr(Trajectory_d ptr)
Do not take ownership of ptr.
ptr can be null.
The constructor is implicit on purpose.
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Method Detail
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getCPtr
public static long getCPtr(Trajectory_dCPtr obj)
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delete
public void delete()
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deref
public Trajectory_d deref()
The pointer stored in the object.
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__ref__
public Trajectory_d __ref__()
Dereferencing operator.
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getDeref
public Trajectory_d getDeref()
Member access operator.
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equals
public boolean equals(Trajectory_d p)
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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.
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isNull
public boolean isNull()
checks if the pointer is null- Returns:
- Returns true if the pointer is null
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x
public double 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 double 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 double 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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getIterator
public TrajectoryIterator_dPtr 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 TrajectoryIterator_dPtr 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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