Package org.robwork.sdurw_trajectory
Class CubicSplineInterpolatorVector2D_f
- java.lang.Object
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- org.robwork.sdurw_trajectory.InterpolatorVector2D_f
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- org.robwork.sdurw_trajectory.CubicSplineInterpolatorVector2D_f
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public class CubicSplineInterpolatorVector2D_f extends InterpolatorVector2D_f
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
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Constructor Summary
Constructors Constructor Description CubicSplineInterpolatorVector2D_f(long cPtr, boolean cMemoryOwn)
CubicSplineInterpolatorVector2D_f(Vector2Df a, Vector2Df b, Vector2Df c, Vector2Df d, double duration)
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Method Summary
All Methods Static Methods Instance Methods Concrete Methods Modifier and Type Method Description Vector2Df
ddx(double t)
Note: The second derivative is a 1-degree polynomial:
\bf{df}(t)= 2\cdot \bf{c} + 6\cdot \bf{d}\cdot tvoid
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.Vector2Df
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^2static long
getCPtr(CubicSplineInterpolatorVector2D_f obj)
Vector2Df
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.InterpolatorVector2D_f
getCPtr
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Method Detail
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getCPtr
public static long getCPtr(CubicSplineInterpolatorVector2D_f obj)
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delete
public void delete()
- Overrides:
delete
in classInterpolatorVector2D_f
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x
public Vector2Df 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 classInterpolatorVector2D_f
- Parameters:
t
- [in] time between 0 and length- Returns:
- Position
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dx
public Vector2Df 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 classInterpolatorVector2D_f
- Parameters:
t
- [in] time between 0 and length- Returns:
- Velocity
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ddx
public Vector2Df 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 classInterpolatorVector2D_f
- Parameters:
t
- [in] time between 0 and length- Returns:
- Acceleration
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duration
public double duration()
Description copied from class:InterpolatorVector2D_f
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 classInterpolatorVector2D_f
- Returns:
- duration
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