Package org.robwork.sdurw_trajectory
Class InterpolatorQ
- java.lang.Object
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- org.robwork.sdurw_trajectory.InterpolatorQ
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- Direct Known Subclasses:
CubicSplineInterpolatorQ
,LinearInterpolatorQ
,RampInterpolatorQ
public class InterpolatorQ extends java.lang.Object
Interface for interpolators
See the specific implementations for more details
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Constructor Summary
Constructors Constructor Description InterpolatorQ(long cPtr, boolean cMemoryOwn)
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Method Summary
All Methods Static Methods Instance Methods Concrete Methods Modifier and Type Method Description Q
ddx(double t)
Acceleration at time 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.Q
dx(double t)
Velocity at time tstatic long
getCPtr(InterpolatorQ obj)
Q
x(double t)
Position at time t
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Method Detail
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getCPtr
public static long getCPtr(InterpolatorQ obj)
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delete
public void delete()
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x
public Q x(double t)
Position at time t- Parameters:
t
- [in] time between 0 and length- Returns:
- Position
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dx
public Q dx(double t)
Velocity at time t- Parameters:
t
- [in] time between 0 and length- Returns:
- Velocity
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ddx
public Q ddx(double t)
Acceleration at time t- Parameters:
t
- [in] time between 0 and length- Returns:
- Acceleration
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duration
public 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.- Returns:
- duration
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