Package org.robwork.sdurw
Class LinearInterpolatorQ
- java.lang.Object
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- org.robwork.sdurw.InterpolatorQ
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- org.robwork.sdurw.LinearInterpolatorQ
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public class LinearInterpolatorQ extends InterpolatorQ
Make a linear interpolation between to position
Given a start \mathbf{s}, end \mathbf{e} and duration d
the interpolation is implemented as \mathbf{x}(t)=\mathbf{s} + (\mathbf{e}-\mathbf{s})*t/d.
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
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Constructor Summary
Constructors Constructor Description LinearInterpolatorQ(long cPtr, boolean cMemoryOwn)
LinearInterpolatorQ(Q start, Q end, double duration)
Construct LinearInterpolator starting a start and finishing in end
and taking duration time.
If duration <= 0 an exception is thrown
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Method Summary
All Methods Static Methods Instance Methods Concrete Methods Modifier and Type Method Description Q
ddx(double t)
Conditional comment:
End of conditional comment.void
delete()
double
duration()
Q
dx(double t)
Conditional comment:
End of conditional comment.static long
getCPtr(LinearInterpolatorQ obj)
Q
getEnd()
Returns the end position of the interpolatorQ
getStart()
Returns the start position of the interpolatorQ
x(double t)
Conditional comment:
End of conditional comment.-
Methods inherited from class org.robwork.sdurw.InterpolatorQ
getCPtr
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Constructor Detail
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LinearInterpolatorQ
public LinearInterpolatorQ(long cPtr, boolean cMemoryOwn)
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LinearInterpolatorQ
public LinearInterpolatorQ(Q start, Q end, double duration)
Construct LinearInterpolator starting a start and finishing in end
and taking duration time.
If duration <= 0 an exception is thrown
- Parameters:
start
- [in] Start of interpolatorend
- [in] End of interpolatorduration
- [in] Time it takes to from one end to the other.
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Method Detail
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getCPtr
public static long getCPtr(LinearInterpolatorQ obj)
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delete
public void delete()
- Overrides:
delete
in classInterpolatorQ
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x
public Q x(double t)
Conditional comment:
End of conditional comment.- Overrides:
x
in classInterpolatorQ
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dx
public Q dx(double t)
Conditional comment:
End of conditional comment.- Overrides:
dx
in classInterpolatorQ
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ddx
public Q ddx(double t)
Conditional comment:
End of conditional comment.- Overrides:
ddx
in classInterpolatorQ
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getStart
public Q getStart()
Returns the start position of the interpolator- Returns:
- The start position of the interpolator
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getEnd
public Q getEnd()
Returns the end position of the interpolator- Returns:
- The end position of the interpolator
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duration
public double duration()
- Overrides:
duration
in classInterpolatorQ
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