Package org.robwork.sdurw_trajectory
Class LinearInterpolatorVector2D
- java.lang.Object
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- org.robwork.sdurw_trajectory.InterpolatorVector2D
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- org.robwork.sdurw_trajectory.LinearInterpolatorVector2D
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public class LinearInterpolatorVector2D extends InterpolatorVector2D
Make a linear interpolation between to position
Given a start \mathbf{s}, end \mathbf{e} and duration d
the interpolation is implemented as \mathbf{x}(t)=\mathbf{s} + (\mathbf{e}-\mathbf{s})*t/d.
The template argument given needs to support addition with the "+" operator
and scaling with a double using the "*" operator.
For use with a rw::math::Transform3D see the template specialization
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Constructor Summary
Constructors Constructor Description LinearInterpolatorVector2D(long cPtr, boolean cMemoryOwn)
LinearInterpolatorVector2D(Vector2D start, Vector2D end, double duration)
Construct LinearInterpolator starting a start and finishing in end
and taking duration time.
If duration <= 0 an exception is thrown
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Method Summary
All Methods Static Methods Instance Methods Concrete Methods Modifier and Type Method Description Vector2D
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.Vector2D
dx(double t)
Velocity at time tstatic long
getCPtr(LinearInterpolatorVector2D obj)
Vector2D
getEnd()
Returns the end position of the interpolatorVector2D
getStart()
Returns the start position of the interpolatorVector2D
x(double t)
Position at time t-
Methods inherited from class org.robwork.sdurw_trajectory.InterpolatorVector2D
getCPtr
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Constructor Detail
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LinearInterpolatorVector2D
public LinearInterpolatorVector2D(long cPtr, boolean cMemoryOwn)
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LinearInterpolatorVector2D
public LinearInterpolatorVector2D(Vector2D start, Vector2D end, double duration)
Construct LinearInterpolator starting a start and finishing in end
and taking duration time.
If duration <= 0 an exception is thrown
- Parameters:
start
- [in] Start of interpolatorend
- [in] End of interpolatorduration
- [in] Time it takes to from one end to the other.
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Method Detail
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getCPtr
public static long getCPtr(LinearInterpolatorVector2D obj)
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delete
public void delete()
- Overrides:
delete
in classInterpolatorVector2D
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x
public Vector2D x(double t)
Description copied from class:InterpolatorVector2D
Position at time t- Overrides:
x
in classInterpolatorVector2D
- Parameters:
t
- [in] time between 0 and length- Returns:
- Position
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dx
public Vector2D dx(double t)
Description copied from class:InterpolatorVector2D
Velocity at time t- Overrides:
dx
in classInterpolatorVector2D
- Parameters:
t
- [in] time between 0 and length- Returns:
- Velocity
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ddx
public Vector2D ddx(double t)
Description copied from class:InterpolatorVector2D
Acceleration at time t- Overrides:
ddx
in classInterpolatorVector2D
- Parameters:
t
- [in] time between 0 and length- Returns:
- Acceleration
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getStart
public Vector2D getStart()
Returns the start position of the interpolator- Returns:
- The start position of the interpolator
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getEnd
public Vector2D getEnd()
Returns the end position of the interpolator- Returns:
- The end position of the interpolator
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duration
public double duration()
Description copied from class:InterpolatorVector2D
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.- Overrides:
duration
in classInterpolatorVector2D
- Returns:
- duration
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