Package org.robwork.sdurw_trajectory
Class CubicSplineInterpolator_d_f
- java.lang.Object
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- org.robwork.sdurw_trajectory.Interpolator_d_f
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- org.robwork.sdurw_trajectory.CubicSplineInterpolator_d_f
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public class CubicSplineInterpolator_d_f extends Interpolator_d_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 CubicSplineInterpolator_d_f(float a, float b, float c, float d, double duration)
CubicSplineInterpolator_d_f(long cPtr, boolean cMemoryOwn)
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Method Summary
All Methods Static Methods Instance Methods Concrete Methods Modifier and Type Method Description float
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.float
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(CubicSplineInterpolator_d_f obj)
float
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.Interpolator_d_f
getCPtr
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Method Detail
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getCPtr
public static long getCPtr(CubicSplineInterpolator_d_f obj)
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delete
public void delete()
- Overrides:
delete
in classInterpolator_d_f
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x
public float 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 classInterpolator_d_f
- Parameters:
t
- [in] time between 0 and length- Returns:
- Position
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dx
public float 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 classInterpolator_d_f
- Parameters:
t
- [in] time between 0 and length- Returns:
- Velocity
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ddx
public float 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 classInterpolator_d_f
- Parameters:
t
- [in] time between 0 and length- Returns:
- Acceleration
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duration
public double duration()
Description copied from class:Interpolator_d_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 classInterpolator_d_f
- Returns:
- duration
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