Package org.robwork.sdurw_trajectory
Class InterpolatorTransform3D
- java.lang.Object
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- org.robwork.sdurw_trajectory.InterpolatorTransform3D
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- Direct Known Subclasses:
CubicSplineInterpolatorTransform3D
,LinearInterpolatorTransform3D
,RampInterpolatorTransform3D
public class InterpolatorTransform3D extends java.lang.Object
Interface for interpolators
See the specific implementations for more details
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Constructor Summary
Constructors Constructor Description InterpolatorTransform3D(long cPtr, boolean cMemoryOwn)
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Method Summary
All Methods Static Methods Instance Methods Concrete Methods Modifier and Type Method Description Transform3D
ddx(double t)
Acceleration at time tvoid
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 tstatic long
getCPtr(InterpolatorTransform3D obj)
Transform3D
x(double t)
Position at time t
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Method Detail
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getCPtr
public static long getCPtr(InterpolatorTransform3D obj)
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delete
public void delete()
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x
public Transform3D x(double t)
Position at time t- Parameters:
t
- [in] time between 0 and length- Returns:
- Position
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dx
public Transform3D dx(double t)
Velocity at time t- Parameters:
t
- [in] time between 0 and length- Returns:
- Velocity
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ddx
public Transform3D ddx(double t)
Acceleration at time t- Parameters:
t
- [in] time between 0 and length- Returns:
- Acceleration
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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
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