Package org.robwork.sdurw_trajectory

Class InterpolatorTransform3DVector

java.lang.Object

org.robwork.sdurw_trajectory.InterpolatorTransform3DVector

Direct Known Subclasses:

CubicSplineInterpolatorTransform3DVector

public class InterpolatorTransform3DVector
extends java.lang.Object

Interface for interpolators

See the specific implementations for more details

Constructor Summary

Constructors

Constructor	Description
InterpolatorTransform3DVector(long cPtr, boolean cMemoryOwn)

Method Summary

Modifier and Type	Method	Description
Transform3DVector	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.
Transform3DVector	dx(double t)	Velocity at time t
static long	getCPtr(InterpolatorTransform3DVector obj)
Transform3DVector	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

InterpolatorTransform3DVector

public InterpolatorTransform3DVector(long cPtr,
                                     boolean cMemoryOwn)

Method Detail

getCPtr

public static long getCPtr(InterpolatorTransform3DVector obj)

delete

public void delete()

x

public Transform3DVector x(double t)

Position at time t

Parameters:

t - [in] time between 0 and length

Returns:

Position

dx

public Transform3DVector dx(double t)

Velocity at time t

Parameters:

t - [in] time between 0 and length

Returns:

Velocity

ddx

public Transform3DVector 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