Package org.robwork.sdurw_trajectory
Class InterpolatorTrajectory_d_f
- java.lang.Object
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- org.robwork.sdurw_trajectory.Trajectory_d_f
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- org.robwork.sdurw_trajectory.InterpolatorTrajectory_d_f
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public class InterpolatorTrajectory_d_f extends Trajectory_d_f
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 InterpolatorTrajectory_d_f()
Construct an empty trajectoryInterpolatorTrajectory_d_f(double startTime)
Construct an empty trajectoryInterpolatorTrajectory_d_f(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(Blend_d_fPtr blend, Interpolator_d_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(Interpolator_d_fPtr interpolator)
Adds an interpolator to the end of the trajectory.
When adding the interpolator the Trajectory takes ownership.
void
add(InterpolatorTrajectory_d_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
float
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.float
dx(double t)
Velocity of trajectory at time t
Returns the velocity of the trajectory at time t \in[startTime(), endTime()].
static long
getCPtr(InterpolatorTrajectory_d_f obj)
TrajectoryIterator_d_fPtr
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.TrajectoryIterator_d_fPtr
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.
Segment_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 interpolatordouble
startTime()
Returns the startTime of the trajectory
float
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.Trajectory_d_f
endTime, getCPtr, getPath, getPath
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Constructor Detail
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InterpolatorTrajectory_d_f
public InterpolatorTrajectory_d_f(long cPtr, boolean cMemoryOwn)
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InterpolatorTrajectory_d_f
public InterpolatorTrajectory_d_f(double startTime)
Construct an empty trajectory
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InterpolatorTrajectory_d_f
public InterpolatorTrajectory_d_f()
Construct an empty trajectory
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Method Detail
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getCPtr
public static long getCPtr(InterpolatorTrajectory_d_f obj)
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delete
public void delete()
- Overrides:
delete
in classTrajectory_d_f
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x
public float x(double t)
Description copied from class:Trajectory_d_f
Position of trajectory at time t
Returns the position of the trajectory at time t \in[startTime(), endTime()].
- Overrides:
x
in classTrajectory_d_f
- Parameters:
t
- [in] time between startTime() and endTime()- Returns:
- Position
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dx
public float dx(double t)
Description copied from class:Trajectory_d_f
Velocity of trajectory at time t
Returns the velocity of the trajectory at time t \in[startTime(), endTime()].
- Overrides:
dx
in classTrajectory_d_f
- Parameters:
t
- [in] time between startTime() and endTime()- Returns:
- Velocity
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ddx
public float ddx(double t)
Description copied from class:Trajectory_d_f
Acceleration of trajectory at time t
Returns the acceleration of the trajectory at time t \in[startTime(), endTime()].
- Overrides:
ddx
in classTrajectory_d_f
- Parameters:
t
- [in] time between startTime() and endTime()- Returns:
- Acceleration
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duration
public double duration()
Description copied from class:Trajectory_d_f
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 classTrajectory_d_f
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startTime
public double startTime()
Description copied from class:Trajectory_d_f
Returns the startTime of the trajectory
- Overrides:
startTime
in classTrajectory_d_f
- Returns:
- Start time
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getIterator
public TrajectoryIterator_d_fPtr getIterator(double dt)
Description copied from class:Trajectory_d_f
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 classTrajectory_d_f
- 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 TrajectoryIterator_d_fPtr getIterator()
Description copied from class:Trajectory_d_f
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 classTrajectory_d_f
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add
public void add(Interpolator_d_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(Blend_d_fPtr blend, Interpolator_d_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(InterpolatorTrajectory_d_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 Segment_f getSegment(long index)
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