Package org.robwork.sdurw_trajectory

Class CubicSplineInterpolator_d_f

  • 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

    • 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 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.
      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
      static 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 java.lang.Object

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

    • Constructor Detail

      • CubicSplineInterpolator_d_f

        public CubicSplineInterpolator_d_f​(long cPtr,
                                   boolean cMemoryOwn)

      • CubicSplineInterpolator_d_f

        public CubicSplineInterpolator_d_f​(float a,
                                   float b,
                                   float c,
                                   float d,
                                   double duration)

    • Method Detail

      • 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 class Interpolator_d_f
        Parameters:
        t - [in] time between 0 and length
        Returns:
        Position

      • 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 class Interpolator_d_f
        Parameters:
        t - [in] time between 0 and length
        Returns:
        Velocity

      • 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 class Interpolator_d_f
        Parameters:
        t - [in] time between 0 and length
        Returns:
        Acceleration

      • 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 class Interpolator_d_f
        Returns:
        duration