Package org.robwork.sdurw_trajectory
Class BlendRotation3D
- java.lang.Object
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- org.robwork.sdurw_trajectory.BlendRotation3D
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- Direct Known Subclasses:
LloydHaywardBlendRotation3D
,ParabolicBlendRotation3D
public class BlendRotation3D extends java.lang.Object
Interface for blending
A Blend describes a way to blend between to consecutive interpolators. If we let
t_1 be the time switching from one interpolator to the next, then the blend
control the path in the interval [t_1-\tau_1;t_1+\tau_2].
See the specific implementations for at description of which template
arguments that are valid.
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Constructor Summary
Constructors Constructor Description BlendRotation3D(long cPtr, boolean cMemoryOwn)
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Method Summary
All Methods Static Methods Instance Methods Concrete Methods Modifier and Type Method Description Rotation3D
ddx(double t)
The acceleration for a given time tvoid
delete()
Rotation3D
dx(double t)
The velocity for a given time tstatic long
getCPtr(BlendRotation3D obj)
double
tau1()
The time \tau_1 as defined in class definitiondouble
tau2()
The time \tau_2 as defined in class definitionRotation3D
x(double t)
The position for a given time t
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Method Detail
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getCPtr
public static long getCPtr(BlendRotation3D obj)
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delete
public void delete()
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x
public Rotation3D x(double t)
The position for a given time t- Parameters:
t
- [in] t\in[0,\tau_1+\tau_2]- Returns:
- Position at time t
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dx
public Rotation3D dx(double t)
The velocity for a given time t- Parameters:
t
- [in] t\in[0,\tau_1+\tau_2]- Returns:
- Velocity at time t
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ddx
public Rotation3D ddx(double t)
The acceleration for a given time t- Parameters:
t
- [in] t\in[0,\tau_1+\tau_2]- Returns:
- Acceleration at time t
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tau1
public double tau1()
The time \tau_1 as defined in class definition- Returns:
- \tau_1
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tau2
public double tau2()
The time \tau_2 as defined in class definition- Returns:
- \tau_2
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