Package org.robwork.sdurw_trajectory
Class InterpolatorTrajectoryQuaternion
- java.lang.Object
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- org.robwork.sdurw_trajectory.TrajectoryQuaternion
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- org.robwork.sdurw_trajectory.InterpolatorTrajectoryQuaternion
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public class InterpolatorTrajectoryQuaternion extends TrajectoryQuaternion
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();
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Constructor Summary
Constructors Constructor Description InterpolatorTrajectoryQuaternion()
Construct an empty trajectoryInterpolatorTrajectoryQuaternion(double startTime)
Construct an empty trajectoryInterpolatorTrajectoryQuaternion(long cPtr, boolean cMemoryOwn)
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Method Summary
All Methods Static Methods Instance Methods Concrete Methods Modifier and Type Method Description void
add(InterpolatorTrajectoryQuaternion 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
void
add(SWIGTYPE_p_rw__core__PtrT_rw__trajectory__BlendT_rw__math__QuaternionT_double_t_t_t blend, SWIGTYPE_p_rw__core__PtrT_rw__trajectory__InterpolatorT_rw__math__QuaternionT_double_t_t_t 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(SWIGTYPE_p_rw__core__PtrT_rw__trajectory__InterpolatorT_rw__math__QuaternionT_double_t_t_t interpolator)
Adds an interpolator to the end of the trajectory.
When adding the interpolator the Trajectory takes ownership.
Quaternion
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.Quaternion
dx(double t)
Velocity of trajectory at time t
Returns the velocity of the trajectory at time t \in[startTime(), endTime()].
static long
getCPtr(InterpolatorTrajectoryQuaternion obj)
SWIGTYPE_p_rw__trajectory__TrajectoryIteratorT_rw__math__QuaternionT_double_t_t__Ptr
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.SWIGTYPE_p_rw__trajectory__TrajectoryIteratorT_rw__math__QuaternionT_double_t_t__Ptr
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.
SegmentQuaternion
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
Quaternion
x(double t)
Position of trajectory at time t
Returns the position of the trajectory at time t \in[startTime(), endTime()].
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Methods inherited from class org.robwork.sdurw_trajectory.TrajectoryQuaternion
endTime, getCPtr, getPath, getPath
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Constructor Detail
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InterpolatorTrajectoryQuaternion
public InterpolatorTrajectoryQuaternion(long cPtr, boolean cMemoryOwn)
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InterpolatorTrajectoryQuaternion
public InterpolatorTrajectoryQuaternion(double startTime)
Construct an empty trajectory
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InterpolatorTrajectoryQuaternion
public InterpolatorTrajectoryQuaternion()
Construct an empty trajectory
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Method Detail
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getCPtr
public static long getCPtr(InterpolatorTrajectoryQuaternion obj)
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delete
public void delete()
- Overrides:
delete
in classTrajectoryQuaternion
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x
public Quaternion x(double t)
Description copied from class:TrajectoryQuaternion
Position of trajectory at time t
Returns the position of the trajectory at time t \in[startTime(), endTime()].
- Overrides:
x
in classTrajectoryQuaternion
- Parameters:
t
- [in] time between startTime() and endTime()- Returns:
- Position
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dx
public Quaternion dx(double t)
Description copied from class:TrajectoryQuaternion
Velocity of trajectory at time t
Returns the velocity of the trajectory at time t \in[startTime(), endTime()].
- Overrides:
dx
in classTrajectoryQuaternion
- Parameters:
t
- [in] time between startTime() and endTime()- Returns:
- Velocity
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ddx
public Quaternion ddx(double t)
Description copied from class:TrajectoryQuaternion
Acceleration of trajectory at time t
Returns the acceleration of the trajectory at time t \in[startTime(), endTime()].
- Overrides:
ddx
in classTrajectoryQuaternion
- Parameters:
t
- [in] time between startTime() and endTime()- Returns:
- Acceleration
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duration
public double duration()
Description copied from class:TrajectoryQuaternion
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 classTrajectoryQuaternion
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startTime
public double startTime()
Description copied from class:TrajectoryQuaternion
Returns the startTime of the trajectory
- Overrides:
startTime
in classTrajectoryQuaternion
- Returns:
- Start time
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getIterator
public SWIGTYPE_p_rw__trajectory__TrajectoryIteratorT_rw__math__QuaternionT_double_t_t__Ptr getIterator(double dt)
Description copied from class:TrajectoryQuaternion
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 classTrajectoryQuaternion
- Parameters:
dt
- [in] The default time step used when using the ++ or -- operators in the
iterator
Pointer to the iterator. The pointer has ownership.
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getIterator
public SWIGTYPE_p_rw__trajectory__TrajectoryIteratorT_rw__math__QuaternionT_double_t_t__Ptr getIterator()
Description copied from class:TrajectoryQuaternion
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 classTrajectoryQuaternion
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add
public void add(SWIGTYPE_p_rw__core__PtrT_rw__trajectory__InterpolatorT_rw__math__QuaternionT_double_t_t_t 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
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add
public void add(SWIGTYPE_p_rw__core__PtrT_rw__trajectory__BlendT_rw__math__QuaternionT_double_t_t_t blend, SWIGTYPE_p_rw__core__PtrT_rw__trajectory__InterpolatorT_rw__math__QuaternionT_double_t_t_t 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
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add
public void add(InterpolatorTrajectoryQuaternion 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
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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
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getSegment
public SegmentQuaternion getSegment(long index)
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