Package org.robwork.sdurw_trajectory

Class InterpolatorRotation3D_f

java.lang.Object

org.robwork.sdurw_trajectory.InterpolatorRotation3D_f

Direct Known Subclasses:

CubicSplineInterpolatorRotation3D_f, LinearInterpolatorRotation3D_f, RampInterpolatorRotation3D_f

public class InterpolatorRotation3D_f
extends java.lang.Object

Interface for interpolators

See the specific implementations for more details

Constructor Summary

Constructors

Constructor	Description
InterpolatorRotation3D_f(long cPtr, boolean cMemoryOwn)

Method Summary

Modifier and Type	Method	Description
Rotation3Df	ddx(double t)	Acceleration at time 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.
Rotation3Df	dx(double t)	Velocity at time t
static long	getCPtr(InterpolatorRotation3D_f obj)
Rotation3Df	x(double t)	Position at time t

Methods inherited from class java.lang.Object

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

Constructor Detail

InterpolatorRotation3D_f

public InterpolatorRotation3D_f(long cPtr,
                                boolean cMemoryOwn)

Method Detail

getCPtr

public static long getCPtr(InterpolatorRotation3D_f obj)

delete

public void delete()

x

public Rotation3Df x(double t)

Position at time t

Parameters:

t - [in] time between 0 and length

Returns:

Position

dx

public Rotation3Df dx(double t)

Velocity at time t

Parameters:

t - [in] time between 0 and length

Returns:

Velocity

ddx

public Rotation3Df ddx(double t)

Acceleration at time t

Parameters:

t - [in] time between 0 and length

Returns:

Acceleration

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