Package org.robwork.sdurw
Class RampInterpolatorQ
- java.lang.Object
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- org.robwork.sdurw.InterpolatorQ
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- org.robwork.sdurw.RampInterpolatorQ
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public class RampInterpolatorQ extends InterpolatorQ
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
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Constructor Summary
Constructors Constructor Description RampInterpolatorQ(long cPtr, boolean cMemoryOwn)
RampInterpolatorQ(Q start, Q end, Q vellimits, Q acclimits)
Construct RampInterpolator starting at start and finishing in end
with velocity limits vellimimts and acceleration limits acclimits.RampInterpolatorQ(Q start, Q end, Q vellimits, Q acclimits, double duration)
Construct RampInterpolator starting at start and finishing in end
with velocity limits vellimimts and acceleration limits acclimits.
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Method Summary
All Methods Static Methods Instance Methods Concrete Methods Modifier and Type Method Description Q
ddx(double t)
void
delete()
double
duration()
Q
dx(double t)
static long
getCPtr(RampInterpolatorQ obj)
Q
getEnd()
Returns the end position of the interpolatorQ
getStart()
Returns the start position of the interpolatorQ
x(double t)
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Methods inherited from class org.robwork.sdurw.InterpolatorQ
getCPtr
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Constructor Detail
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RampInterpolatorQ
public RampInterpolatorQ(long cPtr, boolean cMemoryOwn)
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RampInterpolatorQ
public RampInterpolatorQ(Q start, Q end, Q vellimits, Q acclimits, double duration)
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 interpolatorend
- [in] End of interpolatorvellimits
- [in] velocity limitsacclimits
- [in] acceleration limitsduration
- [in] Time it takes to from one end to the other.
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RampInterpolatorQ
public RampInterpolatorQ(Q start, Q end, Q vellimits, Q acclimits)
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 interpolatorend
- [in] End of interpolatorvellimits
- [in] velocity limitsacclimits
- [in] acceleration limits
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Method Detail
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getCPtr
public static long getCPtr(RampInterpolatorQ obj)
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delete
public void delete()
- Overrides:
delete
in classInterpolatorQ
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x
public Q x(double t)
- Overrides:
x
in classInterpolatorQ
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dx
public Q dx(double t)
- Overrides:
dx
in classInterpolatorQ
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ddx
public Q ddx(double t)
- 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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