Package org.robwork.sdurw

Class LinearInterpolatorRotation3Dd

java.lang.Object

org.robwork.sdurw.InterpolatorSO3

org.robwork.sdurw.LinearInterpolatorRotation3Dd

public class LinearInterpolatorRotation3Dd
extends InterpolatorSO3

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

Constructor Summary

Constructors

Constructor	Description
LinearInterpolatorRotation3Dd(long cPtr, boolean cMemoryOwn)
LinearInterpolatorRotation3Dd(Rotation3Dd start, Rotation3Dd end, double duration)	Construct LinearInterpolator starting a start and finishing in end and taking duration time. If duration <= 0 an exception is thrown

Method Summary

Modifier and Type	Method	Description
Rotation3Dd	ddx(double t)	Conditional comment: End of conditional comment.
void	delete()
double	duration()
Rotation3Dd	dx(double t)	Conditional comment: End of conditional comment.
static long	getCPtr(LinearInterpolatorRotation3Dd obj)
Rotation3Dd	getEnd()	Returns the end position of the interpolator
Rotation3Dd	getStart()	Returns the start position of the interpolator
Rotation3Dd	x(double t)	Conditional comment: End of conditional comment.

Methods inherited from class org.robwork.sdurw.InterpolatorSO3

getCPtr

Methods inherited from class java.lang.Object

equals, getClass, hashCode, notify, notifyAll, toString, wait, wait, wait

Constructor Detail

LinearInterpolatorRotation3Dd

public LinearInterpolatorRotation3Dd(long cPtr,
                                     boolean cMemoryOwn)

LinearInterpolatorRotation3Dd

public LinearInterpolatorRotation3Dd(Rotation3Dd start,
                                     Rotation3Dd 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 interpolator

end - [in] End of interpolator

duration - [in] Time it takes to from one end to the other.

Method Detail

getCPtr

public static long getCPtr(LinearInterpolatorRotation3Dd obj)

delete

public void delete()

Overrides:

delete in class InterpolatorSO3

x

public Rotation3Dd x(double t)

Conditional comment:

End of conditional comment.

Overrides:

x in class InterpolatorSO3

dx

public Rotation3Dd dx(double t)

Conditional comment:

End of conditional comment.

Overrides:

dx in class InterpolatorSO3

ddx

public Rotation3Dd ddx(double t)

Conditional comment:

End of conditional comment.

Overrides:

ddx in class InterpolatorSO3

getStart

public Rotation3Dd getStart()

Returns the start position of the interpolator

Returns:

The start position of the interpolator

getEnd

public Rotation3Dd getEnd()

Returns the end position of the interpolator

Returns:

The end position of the interpolator

duration

public double duration()

Overrides:

duration in class InterpolatorSO3