Package org.robwork.sdurw_trajectory
Class InterpolatorTrajectoryVector2D_fPtr
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- org.robwork.sdurw_trajectory.InterpolatorTrajectoryVector2D_fPtr
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public class InterpolatorTrajectoryVector2D_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 InterpolatorTrajectoryVector2D_fPtr()
Default constructor yielding a NULL-pointer.InterpolatorTrajectoryVector2D_fPtr(long cPtr, boolean cMemoryOwn)
InterpolatorTrajectoryVector2D_fPtr(InterpolatorTrajectoryVector2D_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 InterpolatorTrajectoryVector2D_f
__ref__()
Dereferencing operator.void
add(BlendVector2D_fPtr blend, InterpolatorVector2D_fPtr 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(InterpolatorTrajectoryVector2D_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(InterpolatorVector2D_fPtr interpolator)
Adds an interpolator to the end of the trajectory.
When adding the interpolator the Trajectory takes ownership.
InterpolatorTrajectoryVector2D_fCPtr
cptr()
Vector2Df
ddx(double t)
void
delete()
InterpolatorTrajectoryVector2D_f
deref()
The pointer stored in the object.double
duration()
Vector2Df
dx(double t)
double
endTime()
Returns the endTime of the trajectory.
The end time equals startTime() + duration().
boolean
equals(InterpolatorTrajectoryVector2D_f p)
static long
getCPtr(InterpolatorTrajectoryVector2D_fPtr obj)
InterpolatorTrajectoryVector2D_f
getDeref()
Member access operator.TrajectoryIteratorVector2D_fPtr
getIterator()
TrajectoryIteratorVector2D_fPtr
getIterator(double dt)
SWIGTYPE_p_std__vectorT_rw__math__Vector2DT_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__Vector2DT_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.
SegmentVector2D_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()
Vector2Df
x(double t)
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Constructor Detail
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InterpolatorTrajectoryVector2D_fPtr
public InterpolatorTrajectoryVector2D_fPtr(long cPtr, boolean cMemoryOwn)
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InterpolatorTrajectoryVector2D_fPtr
public InterpolatorTrajectoryVector2D_fPtr()
Default constructor yielding a NULL-pointer.
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InterpolatorTrajectoryVector2D_fPtr
public InterpolatorTrajectoryVector2D_fPtr(InterpolatorTrajectoryVector2D_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(InterpolatorTrajectoryVector2D_fPtr obj)
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delete
public void delete()
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deref
public InterpolatorTrajectoryVector2D_f deref()
The pointer stored in the object.
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__ref__
public InterpolatorTrajectoryVector2D_f __ref__()
Dereferencing operator.
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getDeref
public InterpolatorTrajectoryVector2D_f getDeref()
Member access operator.
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equals
public boolean equals(InterpolatorTrajectoryVector2D_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 InterpolatorTrajectoryVector2D_fCPtr cptr()
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x
public Vector2Df x(double t)
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dx
public Vector2Df dx(double t)
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ddx
public Vector2Df 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 TrajectoryIteratorVector2D_fPtr getIterator(double dt)
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getIterator
public TrajectoryIteratorVector2D_fPtr getIterator()
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add
public void add(InterpolatorVector2D_fPtr 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(BlendVector2D_fPtr blend, InterpolatorVector2D_fPtr 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(InterpolatorTrajectoryVector2D_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 SegmentVector2D_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__Vector2DT_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__Vector2DT_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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