Package org.robwork.sdurw_trajectory

Class CubicSplineInterpolator_dCPtr

java.lang.Object

org.robwork.sdurw_trajectory.CubicSplineInterpolator_dCPtr

public class CubicSplineInterpolator_dCPtr
extends java.lang.Object

Ptr stores a pointer and optionally takes ownership of the value.

Constructor Summary

Constructors

Constructor	Description
CubicSplineInterpolator_dCPtr()	Default constructor yielding a NULL-pointer.
CubicSplineInterpolator_dCPtr(long cPtr, boolean cMemoryOwn)
CubicSplineInterpolator_dCPtr(CubicSplineInterpolator_d ptr)	Do not take ownership of ptr. ptr can be null. The constructor is implicit on purpose.

Method Summary

Modifier and Type	Method	Description
CubicSplineInterpolator_d	__ref__()	Dereferencing operator.
double	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()
CubicSplineInterpolator_d	deref()	The pointer stored in the object.
double	duration()
double	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
boolean	equals(CubicSplineInterpolator_d p)
static long	getCPtr(CubicSplineInterpolator_dCPtr obj)
CubicSplineInterpolator_d	getDeref()	Member access operator.
boolean	isNull()	checks if the pointer is null
boolean	isShared()	check if this Ptr has shared ownership or none ownership
double	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 java.lang.Object

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

Constructor Detail

CubicSplineInterpolator_dCPtr

public CubicSplineInterpolator_dCPtr(long cPtr,
                                     boolean cMemoryOwn)

CubicSplineInterpolator_dCPtr

public CubicSplineInterpolator_dCPtr()

Default constructor yielding a NULL-pointer.

CubicSplineInterpolator_dCPtr

public CubicSplineInterpolator_dCPtr(CubicSplineInterpolator_d ptr)

Do not take ownership of ptr.

ptr can be null.

The constructor is implicit on purpose.

Method Detail

getCPtr

public static long getCPtr(CubicSplineInterpolator_dCPtr obj)

delete

public void delete()

deref

public CubicSplineInterpolator_d deref()

The pointer stored in the object.

__ref__

public CubicSplineInterpolator_d __ref__()

Dereferencing operator.

getDeref

public CubicSplineInterpolator_d getDeref()

Member access operator.

equals

public boolean equals(CubicSplineInterpolator_d p)

isShared

public boolean isShared()

check if this Ptr has shared ownership or none
ownership

Returns:

true if Ptr has shared ownership, false if it has no ownership.

isNull

public boolean isNull()

checks if the pointer is null

Returns:

Returns true if the pointer is null

x

public double 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

dx

public double 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

ddx

public double 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

duration

public double duration()