Package org.robwork.sdurw

Class RampInterpolatord

java.lang.Object

org.robwork.sdurw.InterpolatorR1

org.robwork.sdurw.RampInterpolatord

public class RampInterpolatord
extends InterpolatorR1

Constructor Summary

Constructors

Constructor	Description
RampInterpolatord(double start, double end, double velLimit, double accLimit)	Construct RampInterpolator starting a start and finishing in end.
RampInterpolatord(long cPtr, boolean cMemoryOwn)

Method Summary

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

Methods inherited from class org.robwork.sdurw.InterpolatorR1

getCPtr

Methods inherited from class java.lang.Object

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

Constructor Detail

RampInterpolatord

public RampInterpolatord(long cPtr,
                         boolean cMemoryOwn)

RampInterpolatord

public RampInterpolatord(double start,
                         double end,
                         double velLimit,
                         double accLimit)

Construct RampInterpolator starting a start and finishing in end.

Parameters:

start - [in] Start of interpolator

end - [in] End of interpolator

velLimit - [in] the max velocity in m/sec

accLimit - [in] the max acceleration in m/sec^2

Method Detail

getCPtr

public static long getCPtr(RampInterpolatord obj)

delete

public void delete()

Overrides:

delete in class InterpolatorR1

x

public double x(double t)

Overrides:

x in class InterpolatorR1

dx

public double dx(double t)

Overrides:

dx in class InterpolatorR1

ddx

public double ddx(double t)

Overrides:

ddx in class InterpolatorR1

getStart

public double getStart()

Returns the start rotation of the interpolator

Returns:

The start rotation of the interpolator

getEnd

public double getEnd()

Returns the end rotation of the interpolator

Returns:

The end rotation of the interpolator

duration

public double duration()

Overrides:

duration in class InterpolatorR1