Package org.robwork.sdurw_trajectory
Class InterpolatorTrajectoryTransform3DVector_fPtr
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- org.robwork.sdurw_trajectory.InterpolatorTrajectoryTransform3DVector_fPtr
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public class InterpolatorTrajectoryTransform3DVector_fPtr extends java.lang.Object
Ptr stores a pointer and optionally takes ownership of the value.
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Constructor Summary
Constructors Constructor Description InterpolatorTrajectoryTransform3DVector_fPtr()
Default constructor yielding a NULL-pointer.InterpolatorTrajectoryTransform3DVector_fPtr(long cPtr, boolean cMemoryOwn)
InterpolatorTrajectoryTransform3DVector_fPtr(InterpolatorTrajectoryTransform3DVector_f ptr)
Do not take ownership of ptr.
ptr can be null.
The constructor is implicit on purpose.
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Method Summary
All Methods Static Methods Instance Methods Concrete Methods Modifier and Type Method Description InterpolatorTrajectoryTransform3DVector_f
__ref__()
Dereferencing operator.void
add(InterpolatorTrajectoryTransform3DVector_f 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__Transform3DVectorT_float_t_t_t blend, SWIGTYPE_p_rw__core__PtrT_rw__trajectory__InterpolatorT_rw__math__Transform3DVectorT_float_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__Transform3DVectorT_float_t_t_t interpolator)
Adds an interpolator to the end of the trajectory.
When adding the interpolator the Trajectory takes ownership.
InterpolatorTrajectoryTransform3DVector_fCPtr
cptr()
Transform3DVector_f
ddx(double t)
void
delete()
InterpolatorTrajectoryTransform3DVector_f
deref()
The pointer stored in the object.double
duration()
Transform3DVector_f
dx(double t)
double
endTime()
Returns the endTime of the trajectory.
The end time equals startTime() + duration().
boolean
equals(InterpolatorTrajectoryTransform3DVector_f p)
static long
getCPtr(InterpolatorTrajectoryTransform3DVector_fPtr obj)
InterpolatorTrajectoryTransform3DVector_f
getDeref()
Member access operator.SWIGTYPE_p_rw__trajectory__TrajectoryIteratorT_rw__math__Transform3DVectorT_float_t_t__Ptr
getIterator()
SWIGTYPE_p_rw__trajectory__TrajectoryIteratorT_rw__math__Transform3DVectorT_float_t_t__Ptr
getIterator(double dt)
SWIGTYPE_p_std__vectorT_rw__math__Transform3DVectorT_float_t_t
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.
SWIGTYPE_p_std__vectorT_rw__math__Transform3DVectorT_float_t_t
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.
SegmentTransform3DVector_f
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 interpolatorboolean
isNull()
checks if the pointer is nullboolean
isShared()
check if this Ptr has shared ownership or none
ownershipdouble
startTime()
Transform3DVector_f
x(double t)
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Constructor Detail
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InterpolatorTrajectoryTransform3DVector_fPtr
public InterpolatorTrajectoryTransform3DVector_fPtr(long cPtr, boolean cMemoryOwn)
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InterpolatorTrajectoryTransform3DVector_fPtr
public InterpolatorTrajectoryTransform3DVector_fPtr()
Default constructor yielding a NULL-pointer.
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InterpolatorTrajectoryTransform3DVector_fPtr
public InterpolatorTrajectoryTransform3DVector_fPtr(InterpolatorTrajectoryTransform3DVector_f ptr)
Do not take ownership of ptr.
ptr can be null.
The constructor is implicit on purpose.
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Method Detail
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getCPtr
public static long getCPtr(InterpolatorTrajectoryTransform3DVector_fPtr obj)
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delete
public void delete()
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deref
public InterpolatorTrajectoryTransform3DVector_f deref()
The pointer stored in the object.
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__ref__
public InterpolatorTrajectoryTransform3DVector_f __ref__()
Dereferencing operator.
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getDeref
public InterpolatorTrajectoryTransform3DVector_f getDeref()
Member access operator.
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equals
public boolean equals(InterpolatorTrajectoryTransform3DVector_f p)
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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.
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isNull
public boolean isNull()
checks if the pointer is null- Returns:
- Returns true if the pointer is null
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cptr
public InterpolatorTrajectoryTransform3DVector_fCPtr cptr()
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x
public Transform3DVector_f x(double t)
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dx
public Transform3DVector_f dx(double t)
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ddx
public Transform3DVector_f ddx(double t)
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duration
public double duration()
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startTime
public double startTime()
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getIterator
public SWIGTYPE_p_rw__trajectory__TrajectoryIteratorT_rw__math__Transform3DVectorT_float_t_t__Ptr getIterator(double dt)
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getIterator
public SWIGTYPE_p_rw__trajectory__TrajectoryIteratorT_rw__math__Transform3DVectorT_float_t_t__Ptr getIterator()
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add
public void add(SWIGTYPE_p_rw__core__PtrT_rw__trajectory__InterpolatorT_rw__math__Transform3DVectorT_float_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__Transform3DVectorT_float_t_t_t blend, SWIGTYPE_p_rw__core__PtrT_rw__trajectory__InterpolatorT_rw__math__Transform3DVectorT_float_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(InterpolatorTrajectoryTransform3DVector_f 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 SegmentTransform3DVector_f getSegment(long index)
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endTime
public double endTime()
Returns the endTime of the trajectory.
The end time equals startTime() + duration().
- Returns:
- The end time
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getPath
public SWIGTYPE_p_std__vectorT_rw__math__Transform3DVectorT_float_t_t 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 sizeuniform
- [in] Whether to sample the path uniformly- Returns:
- The discrete path.
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getPath
public SWIGTYPE_p_std__vectorT_rw__math__Transform3DVectorT_float_t_t 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.
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