Package org.robwork.sdurw_trajectory

Class InterpolatorTransform3D

java.lang.Object

org.robwork.sdurw_trajectory.InterpolatorTransform3D

Direct Known Subclasses:

CubicSplineInterpolatorTransform3D, LinearInterpolatorTransform3D, RampInterpolatorTransform3D

public class InterpolatorTransform3D
extends java.lang.Object

Interface for interpolators

See the specific implementations for more details

Constructor Summary

Constructors

Constructor	Description
InterpolatorTransform3D(long cPtr, boolean cMemoryOwn)

Method Summary

Modifier and Type	Method	Description
Transform3D	ddx(double t)	Acceleration at time t
void	delete()
double	duration()	Returns the duration of the interpolator The duration is defined as the time it takes to move from one end of the interpolator to the other.
Transform3D	dx(double t)	Velocity at time t
static long	getCPtr(InterpolatorTransform3D obj)
Transform3D	x(double t)	Position at time t

Methods inherited from class java.lang.Object

equals, getClass, hashCode, notify, notifyAll, toString, wait, wait, wait

Constructor Detail

InterpolatorTransform3D

public InterpolatorTransform3D(long cPtr,
                               boolean cMemoryOwn)

Method Detail

getCPtr

public static long getCPtr(InterpolatorTransform3D obj)

delete

public void delete()

x

public Transform3D x(double t)

Position at time t

Parameters:

t - [in] time between 0 and length

Returns:

Position

dx

public Transform3D dx(double t)

Velocity at time t

Parameters:

t - [in] time between 0 and length

Returns:

Velocity

ddx

public Transform3D ddx(double t)

Acceleration at time t

Parameters:

t - [in] time between 0 and length

Returns:

Acceleration

duration

public double duration()

Returns the duration of the interpolator

The duration is defined as the time it takes to move from one end
of the interpolator to the other.

Returns:

duration