Package org.robwork.sdurw_trajectory

Class CubicSplineInterpolatorVector3D

java.lang.Object

org.robwork.sdurw_trajectory.InterpolatorVector3D

org.robwork.sdurw_trajectory.CubicSplineInterpolatorVector3D

public class CubicSplineInterpolatorVector3D
extends InterpolatorVector3D

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
CubicSplineInterpolatorVector3D(long cPtr, boolean cMemoryOwn)
CubicSplineInterpolatorVector3D(Vector3D a, Vector3D b, Vector3D c, Vector3D d, double duration)

Method Summary

Modifier and Type	Method	Description
Vector3D	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.
Vector3D	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(CubicSplineInterpolatorVector3D obj)
Vector3D	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.InterpolatorVector3D

getCPtr

Methods inherited from class java.lang.Object

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

Constructor Detail

CubicSplineInterpolatorVector3D

public CubicSplineInterpolatorVector3D(long cPtr,
                                       boolean cMemoryOwn)

CubicSplineInterpolatorVector3D

public CubicSplineInterpolatorVector3D(Vector3D a,
                                       Vector3D b,
                                       Vector3D c,
                                       Vector3D d,
                                       double duration)

Method Detail

getCPtr

public static long getCPtr(CubicSplineInterpolatorVector3D obj)

delete

public void delete()

Overrides:

delete in class InterpolatorVector3D

x

public Vector3D 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 InterpolatorVector3D

Parameters:

t - [in] time between 0 and length

Returns:

Position

dx

public Vector3D 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 InterpolatorVector3D

Parameters:

t - [in] time between 0 and length

Returns:

Velocity

ddx

public Vector3D 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 InterpolatorVector3D

Parameters:

t - [in] time between 0 and length

Returns:

Acceleration

duration

public double duration()

Description copied from class: InterpolatorVector3D

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 InterpolatorVector3D

Returns:

duration