Make a ramp interpolation between two position. More...

#include <RampInterpolator.hpp>

Public Types
typedef rw::core::Ptr< RampInterpolator >	Ptr
	smart pointer type to instance of class

typedef rw::core::Ptr< const RampInterpolator >	CPtr
	smart pointer type const instance of class

Public Types inherited from Interpolator< T >
typedef rw::core::Ptr< Interpolator >	Ptr
	smart pointer type to this class

Public Member Functions
	RampInterpolator (const T &start, const T &end, const T &vellimits, const T &acclimits, double duration=-1)
	Construct RampInterpolator starting at start and finishing in end with velocity limits vellimimts and acceleration limits acclimits. The duration will be calculated automatically. The start and end velocity and acceleration is zero. More...

T	x (double t) const
	Position at time t. More...

T	dx (double t) const
	Velocity at time t. More...

T	ddx (double t) const
	Acceleration at time t. More...

T	getStart () const
	Returns the start position of the interpolator. More...

T	getEnd () const
	Returns the end position of the interpolator. More...

double	duration () const
	Returns the duration of the interpolator. More...

Public Member Functions inherited from Interpolator< T >
virtual	~Interpolator ()
	Virtual destructor.

Detailed Description

template<class T>
class rw::trajectory::RampInterpolator< T >

Make a ramp interpolation between two position.

The template argument given needs to support addition with the "+" operator and scaling with a double using the "*" operator.

For use with a rw::math::Transform3D see the template specialization

Constructor & Destructor Documentation

◆ RampInterpolator()

RampInterpolator	(	const T &	start,
		const T &	end,
		const T &	vellimits,
		const T &	acclimits,
		double	duration = `-1`
	)

inline

Construct RampInterpolator starting at start and finishing in end with velocity limits vellimimts and acceleration limits acclimits. The duration will be calculated automatically. The start and end velocity and acceleration is zero.

If duration is not achievable given the velocity and acceleration limits then the duration will be extended.

Parameters

start	[in] Start of interpolator
end	[in] End of interpolator
vellimits	[in] velocity limits
acclimits	[in] acceleration limits
duration	[in] Time it takes to from one end to the other.

Member Function Documentation

◆ ddx()

T ddx ( double t ) const

inlinevirtual

Acceleration at time t.

Parameters

t	[in] time between 0 and length

Returns: Acceleration

Implements Interpolator< T >.

◆ duration()

double duration ( ) const

inlinevirtual

Returns the duration of the interpolator.

The duration is defined as the time it takes to move from one end of the interpolator to the other.

Returns: duration

Implements Interpolator< T >.

◆ dx()

T dx ( double t ) const

inlinevirtual

Velocity at time t.

Parameters

t	[in] time between 0 and length

Returns: Velocity

Implements Interpolator< T >.

◆ getEnd()

T getEnd ( ) const

inline

Returns the end position of the interpolator.

Returns: The end position of the interpolator

◆ getStart()

T getStart ( ) const

inline

Returns the start position of the interpolator.

Returns: The start position of the interpolator

◆ x()

T x ( double t ) const

inlinevirtual

Position at time t.

Parameters

t	[in] time between 0 and length

Returns: Position

Implements Interpolator< T >.

The documentation for this class was generated from the following file:

RampInterpolator.hpp

Public Types

Public Member Functions

Detailed Description

template<class T> class rw::trajectory::RampInterpolator< T >

Constructor & Destructor Documentation

◆ RampInterpolator()

Member Function Documentation

◆ ddx()

◆ duration()

◆ dx()

◆ getEnd()

◆ getStart()

◆ x()

template<class T>
class rw::trajectory::RampInterpolator< T >