Package org.robwork.sdurw_trajectory
Class Trajectory_d_f
- java.lang.Object
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- org.robwork.sdurw_trajectory.Trajectory_d_f
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- Direct Known Subclasses:
InterpolatorTrajectory_d_f
,TrajectorySequence_d_f
public class Trajectory_d_f extends java.lang.Object
Interface for Trajectories in RobWork
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Constructor Summary
Constructors Constructor Description Trajectory_d_f(long cPtr, boolean cMemoryOwn)
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Method Summary
All Methods Static Methods Instance Methods Concrete Methods Modifier and Type Method Description float
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.float
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(Trajectory_d_f obj)
TrajectoryIterator_d_fPtr
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_d_fPtr
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.
vector_f
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.
vector_f
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
float
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(Trajectory_d_f obj)
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delete
public void delete()
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x
public float 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 float 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 float 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 vector_f 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 vector_f 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 TrajectoryIterator_d_fPtr 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_d_fPtr 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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