Package org.robwork.sdurw_trajectory
Class InterpolatorTrajectoryQ
- java.lang.Object
-
- org.robwork.sdurw_trajectory.TrajectoryQ
-
- org.robwork.sdurw_trajectory.InterpolatorTrajectoryQ
-
public class InterpolatorTrajectoryQ extends TrajectoryQ
Sequence of interpolators and blends giving a trajectory
A trajectory is defined as a sequence of interpolators and blends.
Multiple interpolators can follow each other, whereas a Blend must be
preceded and followed by interpolators.
The length of a Trajectory is defined as the time it takes to go from
start to finish.
When performing random queries the trajectory needs to do a binary search
through all interpolators and blend, giving the random access an O(lg n)
complexity.
For accessing multiple consecutive values use TrajectoryInterpolator.
Example of usage:
Transform3D<> T1(Vector3D<>(0,0,0), EAA<>(0,0,0)); Transform3D<> T2(Vector3D<>(1,1,0), EAA<>(1,1,0)); Transform3D<> T3(Vector3D<>(2,0,0), EAA<>(2,2,0)); LinearInterpolator<Transform3D<> >::Ptr cartInt1 = ownedPtr(new LinearInterpolator<Transform3D<> >(T1, T2, 1)); LinearInterpolator<Transform3D<> >::Ptr cartInt2 = ownedPtr(new LinearInterpolator<Transform3D<> >(T2, T3, 1)); ParabolicBlend<Transform3D<> >::Ptr blend1 = ownedPtr(new ParabolicBlend<Transform3D<> >(cartInt1, cartInt2, 0.25)); InterpolatorTrajectory<Transform3D<> > trajectory; trajectory.add(cartInt1); trajectory.add(blend1, cartInt2); std::ofstream out("test.dat"); for (double t = 0; t<=trajectory.duration(); t += dt) { Transform3D<> x = trajectory.x(t); out<<t<<" "<<x.P()(0)<<" "<<x.P()(1)<<" "<<x.P()(2)<<std::endl; } out.close();
-
-
Constructor Summary
Constructors Constructor Description InterpolatorTrajectoryQ()
Construct an empty trajectoryInterpolatorTrajectoryQ(double startTime)
Construct an empty trajectoryInterpolatorTrajectoryQ(long cPtr, boolean cMemoryOwn)
-
Method Summary
All Methods Static Methods Instance Methods Concrete Methods Modifier and Type Method Description void
add(BlendQPtr blend, InterpolatorQPtr interpolator)
Adds a blend and an interpolator to the trajectory.
The Blend added is used to blend between what was previously the last
Interpolator of the trajectory onto interpolator, which become the
new last interpolator of the trajectory.void
add(InterpolatorQPtr interpolator)
Adds an interpolator to the end of the trajectory.
When adding the interpolator the Trajectory takes ownership.
void
add(InterpolatorTrajectoryQ trajectory)
Append trajectory to the end
When adding a Trajectory all interpolators and blends of
trajectory is added in sequence.
Ownership of the interpolator and blends are shared using
std::shared_ptr
Q
ddx(double t)
Acceleration of trajectory at time t
Returns the acceleration of the trajectory at time t \in[startTime(), endTime()].
void
delete()
double
duration()
Total duration of the trajectory.
The duration of the Trajectory corresponds to the time it takes to
run through it.
If the trajectory is empty, then -1 is returned.Q
dx(double t)
Velocity of trajectory at time t
Returns the velocity of the trajectory at time t \in[startTime(), endTime()].
static long
getCPtr(InterpolatorTrajectoryQ obj)
TrajectoryIteratorQPtr
getIterator()
Returns a bi-directional interator for running through the trajectory.
For some trajectory types it may be significantly more efficient to run through
using an iterator, rather than using random access.
Pointer to the iterator.TrajectoryIteratorQPtr
getIterator(double dt)
Returns a bi-directional interator for running through the trajectory.
For some trajectory types it may be significantly more efficient to run through
using an iterator, rather than using random access.
SegmentQ
getSegment(long index)
long
getSegmentsCount()
Returns the number of segments
A segment contains a description interpolator and the blend used to blend from the
previous interpolatordouble
startTime()
Returns the startTime of the trajectory
Q
x(double t)
Position of trajectory at time t
Returns the position of the trajectory at time t \in[startTime(), endTime()].
-
Methods inherited from class org.robwork.sdurw_trajectory.TrajectoryQ
endTime, getCPtr, getPath, getPath
-
-
-
-
Method Detail
-
getCPtr
public static long getCPtr(InterpolatorTrajectoryQ obj)
-
delete
public void delete()
- Overrides:
delete
in classTrajectoryQ
-
x
public Q x(double t)
Description copied from class:TrajectoryQ
Position of trajectory at time t
Returns the position of the trajectory at time t \in[startTime(), endTime()].
- Overrides:
x
in classTrajectoryQ
- Parameters:
t
- [in] time between startTime() and endTime()- Returns:
- Position
-
dx
public Q dx(double t)
Description copied from class:TrajectoryQ
Velocity of trajectory at time t
Returns the velocity of the trajectory at time t \in[startTime(), endTime()].
- Overrides:
dx
in classTrajectoryQ
- Parameters:
t
- [in] time between startTime() and endTime()- Returns:
- Velocity
-
ddx
public Q ddx(double t)
Description copied from class:TrajectoryQ
Acceleration of trajectory at time t
Returns the acceleration of the trajectory at time t \in[startTime(), endTime()].
- Overrides:
ddx
in classTrajectoryQ
- Parameters:
t
- [in] time between startTime() and endTime()- Returns:
- Acceleration
-
duration
public double duration()
Description copied from class:TrajectoryQ
Total duration of the trajectory.
The duration of the Trajectory corresponds to the time it takes to
run through it.
If the trajectory is empty, then -1 is returned.- Overrides:
duration
in classTrajectoryQ
-
startTime
public double startTime()
Description copied from class:TrajectoryQ
Returns the startTime of the trajectory
- Overrides:
startTime
in classTrajectoryQ
- Returns:
- Start time
-
getIterator
public TrajectoryIteratorQPtr getIterator(double dt)
Description copied from class:TrajectoryQ
Returns a bi-directional interator for running through the trajectory.
For some trajectory types it may be significantly more efficient to run through
using an iterator, rather than using random access.
- Overrides:
getIterator
in classTrajectoryQ
- Parameters:
dt
- [in] The default time step used when using the ++ or -- operators in the
iterator
Pointer to the iterator. The pointer has ownership.
-
getIterator
public TrajectoryIteratorQPtr getIterator()
Description copied from class:TrajectoryQ
Returns a bi-directional interator for running through the trajectory.
For some trajectory types it may be significantly more efficient to run through
using an iterator, rather than using random access.
Pointer to the iterator. The pointer has ownership.- Overrides:
getIterator
in classTrajectoryQ
-
add
public void add(InterpolatorQPtr interpolator)
Adds an interpolator to the end of the trajectory.
When adding the interpolator the Trajectory takes ownership.
- Parameters:
interpolator
- [in] The interpolator to add
-
add
public void add(BlendQPtr blend, InterpolatorQPtr interpolator)
Adds a blend and an interpolator to the trajectory.
The Blend added is used to blend between what was previously the last
Interpolator of the trajectory onto interpolator, which become the
new last interpolator of the trajectory.- Parameters:
blend
- [in] the blend to addinterpolator
- [in] the interpolator to add
-
add
public void add(InterpolatorTrajectoryQ trajectory)
Append trajectory to the end
When adding a Trajectory all interpolators and blends of
trajectory is added in sequence.
Ownership of the interpolator and blends are shared using
std::shared_ptr
- Parameters:
trajectory
- [in] Trajectory to append
-
getSegmentsCount
public long getSegmentsCount()
Returns the number of segments
A segment contains a description interpolator and the blend used to blend from the
previous interpolator
-
getSegment
public SegmentQ getSegment(long index)
-
-