Package org.robwork.sdurw_geometry

Class QuadraticCurve

java.lang.Object

org.robwork.sdurw_geometry.QuadraticCurve

public class QuadraticCurve
extends java.lang.Object

A quadratic curve.

A quadratic curve is given explicitly by the expression \mathbf{p} = \mathbf{c} + r(t) \mathbf{u} + s(t) \mathbf{v} where \mathbf{c},\mathbf{u},\mathbf{v},\mathbf{p} \in \mathbb{R}^3 and \mathbf{u}^T \mathbf{v} = 0 .

The following four types of curves are possible:
- Ellipse: (r,s)=(\sin t,\cos t)
- Hyperbola: (r,s)=(\sinh t,\cosh t)
- Line: (r,s)=(t,0)
- Parabola: (r,s)=(t,t^2)

Nested Class Summary

Nested Classes

Modifier and Type	Class	Description
static class	QuadraticCurve.Type	The four possible curve types.

Constructor Summary

Constructors

Constructor	Description
QuadraticCurve()
QuadraticCurve(long cPtr, boolean cMemoryOwn)
QuadraticCurve(Vector3D c, Vector3D u, Vector3D v, QuadraticCurve.Type type)	Construct quadratic curve given by the expression \mathbf{p} = \mathbf{c} + r(t) \mathbf{u} + s(t) \mathbf{v} , where u and v are orthogonal vectors.

Method Summary

Modifier and Type	Method	Description
QuadraticCurve	assign(QuadraticCurve rhs)
Vector3D	c()	The point c.
Vector3D	call(double in)
QuadraticCurvePtr	clone()
SWIGTYPE_p_std__vectorT_rw__math__Vector3DT_double_t_t	closestPoints(Vector3D p)
double	closestTime(Vector3D p)
vector_d	closestTimes(Vector3D p)
double	curvature(double t)
boolean	CurveEqual(CurveCPtr curve, double eps)
Vector3D	ddx(double t)
void	delete()
SWIGTYPE_p_std__listT_rw__math__Vector3DT_double_t_t	discretizeAdaptive(double stepsPerRevolution)
Vector3D	dx(double t)
pair_d_d	extremums(Vector3D dir)
static long	getCPtr(QuadraticCurve obj)
boolean	hasLimits()
boolean	inLimits(double t)
pair_d_d	limits()
OBB	obr()
QuadraticCurvePtr	reverse()
QuadraticCurvePtr	scale(double factor)
void	setLimits(pair_d_d limits)
QuadraticCurvePtr	transform(Transform3D T)	rw::math::Transform3D<double>&) const
QuadraticCurvePtr	transform(Vector3D P)	rw::math::Vector3D<double>&) const
QuadraticCurve.Type	type()	Get the type of curve.
Vector3D	u()	The vector u.
Vector3D	v()	The vector v.
Vector3D	x(double t)

Methods inherited from class java.lang.Object

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

Constructor Detail

QuadraticCurve

public QuadraticCurve(long cPtr,
                      boolean cMemoryOwn)

QuadraticCurve

public QuadraticCurve(Vector3D c,
                      Vector3D u,
                      Vector3D v,
                      QuadraticCurve.Type type)

Construct quadratic curve given by the expression \mathbf{p} = \mathbf{c} + r(t) \mathbf{u} + s(t) \mathbf{v} , where u and v are orthogonal vectors.

Parameters:

c - [in] offset of curve.

u - [in] first direction.

v - [in] second direction.

type - [in] the type of curve.

QuadraticCurve

public QuadraticCurve()

Method Detail

getCPtr

public static long getCPtr(QuadraticCurve obj)

delete

public void delete()

transform

public QuadraticCurvePtr transform(Transform3D T)

rw::math::Transform3D<double>&) const

transform

public QuadraticCurvePtr transform(Vector3D P)

rw::math::Vector3D<double>&) const

scale

public QuadraticCurvePtr scale(double factor)

reverse

public QuadraticCurvePtr reverse()

clone

public QuadraticCurvePtr clone()

extremums

public pair_d_d extremums(Vector3D dir)

discretizeAdaptive

public SWIGTYPE_p_std__listT_rw__math__Vector3DT_double_t_t discretizeAdaptive(double stepsPerRevolution)

obr

public OBB obr()

closestPoints

public SWIGTYPE_p_std__vectorT_rw__math__Vector3DT_double_t_t closestPoints(Vector3D p)

CurveEqual

public boolean CurveEqual(CurveCPtr curve,
                          double eps)

x

public Vector3D x(double t)

dx

public Vector3D dx(double t)

ddx

public Vector3D ddx(double t)

call

public Vector3D call(double in)

hasLimits

public boolean hasLimits()

limits

public pair_d_d limits()

inLimits

public boolean inLimits(double t)

setLimits

public void setLimits(pair_d_d limits)

curvature

public double curvature(double t)

closestTimes

public vector_d closestTimes(Vector3D p)

closestTime

public double closestTime(Vector3D p)

c

public Vector3D c()

The point c.

Returns:

the point c \in \mathbb{R}^3 .

u

public Vector3D u()

The vector u.

Returns:

the vector u \in \mathbb{R}^3 .

v

public Vector3D v()

The vector v.

Returns:

the vector v \in \mathbb{R}^3 .

type

public QuadraticCurve.Type type()

Get the type of curve.

Returns:

the type of curve.

assign

public QuadraticCurve assign(QuadraticCurve rhs)