Package org.robwork.sdurw

Class RampInterpolatorRotation3Dd

java.lang.Object

org.robwork.sdurw.InterpolatorSO3

org.robwork.sdurw.RampInterpolatorRotation3Dd

public class RampInterpolatorRotation3Dd
extends InterpolatorSO3

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 Summary

Constructors

Constructor	Description
RampInterpolatorRotation3Dd(long cPtr, boolean cMemoryOwn)
RampInterpolatorRotation3Dd(Rotation3Dd start, Rotation3Dd end, Rotation3Dd vellimits, Rotation3Dd acclimits)	Construct RampInterpolator starting at start and finishing in end with velocity limits vellimimts and acceleration limits acclimits.
RampInterpolatorRotation3Dd(Rotation3Dd start, Rotation3Dd end, Rotation3Dd vellimits, Rotation3Dd acclimits, double duration)	Construct RampInterpolator starting at start and finishing in end with velocity limits vellimimts and acceleration limits acclimits.

Method Summary

Modifier and Type	Method	Description
Rotation3Dd	ddx(double t)
void	delete()
double	duration()
Rotation3Dd	dx(double t)
static long	getCPtr(RampInterpolatorRotation3Dd obj)
Rotation3Dd	getEnd()	Returns the end position of the interpolator
Rotation3Dd	getStart()	Returns the start position of the interpolator
Rotation3Dd	x(double t)

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

RampInterpolatorRotation3Dd

public RampInterpolatorRotation3Dd(long cPtr,
                                   boolean cMemoryOwn)

RampInterpolatorRotation3Dd

public RampInterpolatorRotation3Dd(Rotation3Dd start,
                                   Rotation3Dd end,
                                   Rotation3Dd vellimits,
                                   Rotation3Dd 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 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.

RampInterpolatorRotation3Dd

public RampInterpolatorRotation3Dd(Rotation3Dd start,
                                   Rotation3Dd end,
                                   Rotation3Dd vellimits,
                                   Rotation3Dd 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 interpolator

end - [in] End of interpolator

vellimits - [in] velocity limits

acclimits - [in] acceleration limits

Method Detail

getCPtr

public static long getCPtr(RampInterpolatorRotation3Dd obj)

delete

public void delete()

Overrides:

delete in class InterpolatorSO3

x

public Rotation3Dd x(double t)

Overrides:

x in class InterpolatorSO3

dx

public Rotation3Dd dx(double t)

Overrides:

dx in class InterpolatorSO3

ddx

public Rotation3Dd ddx(double t)

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