Package org.robwork.sdurw_trajectory

Class CubicSplineInterpolatorTransform3D

java.lang.Object

org.robwork.sdurw_trajectory.InterpolatorTransform3D

org.robwork.sdurw_trajectory.CubicSplineInterpolatorTransform3D

public class CubicSplineInterpolatorTransform3D
extends InterpolatorTransform3D

This class represents a 3-degree polynomial function, used
in Cubic Splines hence the name CubicSegment.

\bf{f}(t)= \bf{a} + \bf{b}\cdot t + \bf{c}\cdot t^2 \bf{d}\cdot t^3

Constructor Summary

Constructors

Constructor	Description
CubicSplineInterpolatorTransform3D(long cPtr, boolean cMemoryOwn)
CubicSplineInterpolatorTransform3D(Transform3D a, Transform3D b, Transform3D c, Transform3D d, double duration)

Method Summary

Modifier and Type	Method	Description
Transform3D	ddx(double t)	Note: The second derivative is a 1-degree polynomial: \bf{df}(t)= 2\cdot \bf{c} + 6\cdot \bf{d}\cdot t
void	delete()
double	duration()	Returns the duration of the interpolator The duration is defined as the time it takes to move from one end of the interpolator to the other.
Transform3D	dx(double t)	Note: The derivative is a 2-degree polynomial: \bf{df}(t)= \bf{b} + 2\cdot \bf{c}\cdot t + 3\cdot \bf{d}\cdot t^2
static long	getCPtr(CubicSplineInterpolatorTransform3D obj)
Transform3D	x(double t)	Note: The cubic polynomial is given by a 3-degree polynomial: \bf{f}(t)= \bf{a} + \bf{b}\cdot t + \bf{c}\cdot t^2 \bf{d}\cdot t^3

Methods inherited from class org.robwork.sdurw_trajectory.InterpolatorTransform3D

getCPtr

Methods inherited from class java.lang.Object

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

Constructor Detail

CubicSplineInterpolatorTransform3D

public CubicSplineInterpolatorTransform3D(long cPtr,
                                          boolean cMemoryOwn)

CubicSplineInterpolatorTransform3D

public CubicSplineInterpolatorTransform3D(Transform3D a,
                                          Transform3D b,
                                          Transform3D c,
                                          Transform3D d,
                                          double duration)

Method Detail

getCPtr

public static long getCPtr(CubicSplineInterpolatorTransform3D obj)

delete

public void delete()

Overrides:

delete in class InterpolatorTransform3D

x

public Transform3D x(double t)

Note: The cubic polynomial is given by a 3-degree polynomial:
\bf{f}(t)= \bf{a} + \bf{b}\cdot t + \bf{c}\cdot t^2 \bf{d}\cdot t^3

Overrides:

x in class InterpolatorTransform3D

Parameters:

t - [in] time between 0 and length

Returns:

Position

dx

public Transform3D dx(double t)

Note: The derivative is a 2-degree polynomial:
\bf{df}(t)= \bf{b} + 2\cdot \bf{c}\cdot t + 3\cdot \bf{d}\cdot t^2

Overrides:

dx in class InterpolatorTransform3D

Parameters:

t - [in] time between 0 and length

Returns:

Velocity

ddx

public Transform3D ddx(double t)

Note: The second derivative is a 1-degree polynomial:
\bf{df}(t)= 2\cdot \bf{c} + 6\cdot \bf{d}\cdot t

Overrides:

ddx in class InterpolatorTransform3D

Parameters:

t - [in] time between 0 and length

Returns:

Acceleration

duration

public double duration()

Description copied from class: InterpolatorTransform3D

Returns the duration of the interpolator

The duration is defined as the time it takes to move from one end
of the interpolator to the other.

Overrides:

duration in class InterpolatorTransform3D

Returns:

duration