java.lang.Object
- org.robwork.sdurw_trajectory.InterpolatorTrajectoryVector3DPtr

public class InterpolatorTrajectoryVector3DPtr
extends java.lang.Object

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

Constructor Summary

Constructors
Constructor	Description
`InterpolatorTrajectoryVector3DPtr()`	Default constructor yielding a NULL-pointer.
`InterpolatorTrajectoryVector3DPtr(long cPtr, boolean cMemoryOwn)`
`InterpolatorTrajectoryVector3DPtr(InterpolatorTrajectoryVector3D 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
`InterpolatorTrajectoryVector3D`	`__ref__()`	Dereferencing operator.
`void`	`add(BlendVector3DPtr blend, InterpolatorVector3DPtr 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(InterpolatorTrajectoryVector3D 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(InterpolatorVector3DPtr interpolator)`	Adds an interpolator to the end of the trajectory. When adding the interpolator the Trajectory takes ownership.
`InterpolatorTrajectoryVector3DCPtr`	`cptr()`
`Vector3D`	`ddx(double t)`
`void`	`delete()`
`InterpolatorTrajectoryVector3D`	`deref()`	The pointer stored in the object.
`double`	`duration()`
`Vector3D`	`dx(double t)`
`double`	`endTime()`	Returns the endTime of the trajectory. The end time equals startTime() + duration().
`boolean`	`equals(InterpolatorTrajectoryVector3D p)`
`static long`	`getCPtr(InterpolatorTrajectoryVector3DPtr obj)`
`InterpolatorTrajectoryVector3D`	`getDeref()`	Member access operator.
`TrajectoryIteratorVector3DPtr`	`getIterator()`
`TrajectoryIteratorVector3DPtr`	`getIterator(double dt)`
`SWIGTYPE_p_std__vectorT_rw__math__Vector3DT_double_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__Vector3DT_double_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.
`SegmentVector3D`	`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()`
`Vector3D`	`x(double t)`

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

- Constructor Detail
  - InterpolatorTrajectoryVector3DPtr
```
public InterpolatorTrajectoryVector3DPtr(long cPtr,
                                         boolean cMemoryOwn)
```
  - InterpolatorTrajectoryVector3DPtr
```
public InterpolatorTrajectoryVector3DPtr()
```
    Default constructor yielding a NULL-pointer.
  - InterpolatorTrajectoryVector3DPtr
```
public InterpolatorTrajectoryVector3DPtr(InterpolatorTrajectoryVector3D ptr)
```
    Do not take ownership of ptr.
    
    ptr can be null.
    
    The constructor is implicit on purpose.
- Method Detail
  - getCPtr
```
public static long getCPtr(InterpolatorTrajectoryVector3DPtr obj)
```
  - delete
```
public void delete()
```
  - deref
```
public InterpolatorTrajectoryVector3D deref()
```
    The pointer stored in the object.
  - __ref__
```
public InterpolatorTrajectoryVector3D __ref__()
```
    Dereferencing operator.
  - getDeref
```
public InterpolatorTrajectoryVector3D getDeref()
```
    Member access operator.
  - equals
```
public boolean equals(InterpolatorTrajectoryVector3D 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 InterpolatorTrajectoryVector3DCPtr cptr()
```
  - x
```
public Vector3D x(double t)
```
  - dx
```
public Vector3D dx(double t)
```
  - ddx
```
public Vector3D ddx(double t)
```
  - duration
```
public double duration()
```
  - startTime
```
public double startTime()
```
  - getIterator
```
public TrajectoryIteratorVector3DPtr getIterator(double dt)
```
  - getIterator
```
public TrajectoryIteratorVector3DPtr getIterator()
```
  - add
```
public void add(InterpolatorVector3DPtr 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(BlendVector3DPtr blend,
                InterpolatorVector3DPtr 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(InterpolatorTrajectoryVector3D 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 SegmentVector3D 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 SWIGTYPE_p_std__vectorT_rw__math__Vector3DT_double_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 size
    
    uniform - [in] Whether to sample the path uniformly
    
    Returns:
    
    The discrete path.
  - getPath
```
public SWIGTYPE_p_std__vectorT_rw__math__Vector3DT_double_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.

Class InterpolatorTrajectoryVector3DPtr

Constructor Summary

Method Summary

Methods inherited from class java.lang.Object

Constructor Detail

InterpolatorTrajectoryVector3DPtr

InterpolatorTrajectoryVector3DPtr

InterpolatorTrajectoryVector3DPtr

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