java.lang.Object
- org.robwork.sdurw_trajectory.InterpolatorTrajectoryQuaternionPtr

public class InterpolatorTrajectoryQuaternionPtr
extends java.lang.Object

Ptr stores a pointer and optionally takes ownership of the value.

Constructor Summary

Constructors
Constructor	Description
`InterpolatorTrajectoryQuaternionPtr()`	Default constructor yielding a NULL-pointer.
`InterpolatorTrajectoryQuaternionPtr(long cPtr, boolean cMemoryOwn)`
`InterpolatorTrajectoryQuaternionPtr(InterpolatorTrajectoryQuaternion ptr)`	Do not take ownership of ptr. ptr can be null. The constructor is implicit on purpose.

Method Summary

All Methods Static Methods Instance Methods Concrete Methods
Modifier and Type	Method	Description
`InterpolatorTrajectoryQuaternion`	`__ref__()`	Dereferencing operator.
`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.
`InterpolatorTrajectoryQuaternionCPtr`	`cptr()`
`Quaternion`	`ddx(double t)`
`void`	`delete()`
`InterpolatorTrajectoryQuaternion`	`deref()`	The pointer stored in the object.
`double`	`duration()`
`Quaternion`	`dx(double t)`
`double`	`endTime()`	Returns the endTime of the trajectory. The end time equals startTime() + duration().
`boolean`	`equals(InterpolatorTrajectoryQuaternion p)`
`static long`	`getCPtr(InterpolatorTrajectoryQuaternionPtr obj)`
`InterpolatorTrajectoryQuaternion`	`getDeref()`	Member access operator.
`SWIGTYPE_p_rw__trajectory__TrajectoryIteratorT_rw__math__QuaternionT_double_t_t__Ptr`	`getIterator()`
`SWIGTYPE_p_rw__trajectory__TrajectoryIteratorT_rw__math__QuaternionT_double_t_t__Ptr`	`getIterator(double dt)`
`VectorQuaternion`	`getPath(double dt)`	Constructs a discrete path based on the trajectory. If uniform = true the path will be divided into the smallest number of uniform steps for which the time stepsize <= dt. If uniform = false the path is divided into steps of duration dt, except the last interval which may be shorter to include the end point.
`VectorQuaternion`	`getPath(double dt, boolean uniform)`	Constructs a discrete path based on the trajectory. If uniform = true the path will be divided into the smallest number of uniform steps for which the time stepsize <= dt. If uniform = false the path is divided into steps of duration dt, except the last interval which may be shorter to include the end point.
`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 interpolator
`boolean`	`isNull()`	checks if the pointer is null
`boolean`	`isShared()`	check if this Ptr has shared ownership or none ownership
`double`	`startTime()`
`Quaternion`	`x(double t)`

Methods inherited from class java.lang.Object
equals, getClass, hashCode, notify, notifyAll, toString, wait, wait, wait

- Constructor Detail
  - InterpolatorTrajectoryQuaternionPtr
```
public InterpolatorTrajectoryQuaternionPtr(long cPtr,
                                           boolean cMemoryOwn)
```
  - InterpolatorTrajectoryQuaternionPtr
```
public InterpolatorTrajectoryQuaternionPtr()
```
    Default constructor yielding a NULL-pointer.
  - InterpolatorTrajectoryQuaternionPtr
```
public InterpolatorTrajectoryQuaternionPtr(InterpolatorTrajectoryQuaternion ptr)
```
    Do not take ownership of ptr.
    
    ptr can be null.
    
    The constructor is implicit on purpose.
- Method Detail
  - getCPtr
```
public static long getCPtr(InterpolatorTrajectoryQuaternionPtr obj)
```
  - delete
```
public void delete()
```
  - deref
```
public InterpolatorTrajectoryQuaternion deref()
```
    The pointer stored in the object.
  - __ref__
```
public InterpolatorTrajectoryQuaternion __ref__()
```
    Dereferencing operator.
  - getDeref
```
public InterpolatorTrajectoryQuaternion getDeref()
```
    Member access operator.
  - equals
```
public boolean equals(InterpolatorTrajectoryQuaternion p)
```
  - isShared
```
public boolean isShared()
```
    check if this Ptr has shared ownership or none
    ownership
    
    Returns:
    
    true if Ptr has shared ownership, false if it has no ownership.
  - isNull
```
public boolean isNull()
```
    checks if the pointer is null
    
    Returns:
    
    Returns true if the pointer is null
  - cptr
```
public InterpolatorTrajectoryQuaternionCPtr cptr()
```
  - x
```
public Quaternion x(double t)
```
  - dx
```
public Quaternion dx(double t)
```
  - ddx
```
public Quaternion ddx(double t)
```
  - duration
```
public double duration()
```
  - startTime
```
public double startTime()
```
  - getIterator
```
public SWIGTYPE_p_rw__trajectory__TrajectoryIteratorT_rw__math__QuaternionT_double_t_t__Ptr getIterator(double dt)
```
  - getIterator
```
public SWIGTYPE_p_rw__trajectory__TrajectoryIteratorT_rw__math__QuaternionT_double_t_t__Ptr getIterator()
```
  - 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
  - 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 add
    
    interpolator - [in] the interpolator to add
  - 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
  - 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 SegmentQuaternion getSegment(long index)
```
  - endTime
```
public double endTime()
```
    Returns the endTime of the trajectory.
    
    The end time equals startTime() + duration().
    
    Returns:
    
    The end time
  - getPath
```
public VectorQuaternion getPath(double dt,
                                boolean uniform)
```
    Constructs a discrete path based on the trajectory.
    
    If uniform = true the path will be divided into the smallest number of
    uniform steps for which the time stepsize <= dt.
    
    If uniform = false the path is divided into steps of duration dt, except the
    last interval which may be shorter to include the end point.
    
    Parameters:
    
    dt - [in] Step size
    
    uniform - [in] Whether to sample the path uniformly
    
    Returns:
    
    The discrete path.
  - getPath
```
public VectorQuaternion getPath(double dt)
```
    Constructs a discrete path based on the trajectory.
    
    If uniform = true the path will be divided into the smallest number of
    uniform steps for which the time stepsize <= dt.
    
    If uniform = false the path is divided into steps of duration dt, except the
    last interval which may be shorter to include the end point.
    
    Parameters:
    
    dt - [in] Step size
    
    Returns:
    
    The discrete path.

Class InterpolatorTrajectoryQuaternionPtr

Constructor Summary

Method Summary

Methods inherited from class java.lang.Object

Constructor Detail

InterpolatorTrajectoryQuaternionPtr

InterpolatorTrajectoryQuaternionPtr

InterpolatorTrajectoryQuaternionPtr

Method Detail

getCPtr

delete

deref

__ref__

getDeref

equals

isShared

isNull

cptr

x

dx

ddx

duration

startTime

getIterator

getIterator

add

add

add

getSegmentsCount

getSegment

endTime

getPath

getPath

ref