Package org.robwork.sdurw_trajectory
Class LinearInterpolatorVector3D_f
- java.lang.Object
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- org.robwork.sdurw_trajectory.InterpolatorVector3D_f
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- org.robwork.sdurw_trajectory.LinearInterpolatorVector3D_f
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public class LinearInterpolatorVector3D_f extends InterpolatorVector3D_f
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 LinearInterpolatorVector3D_f(long cPtr, boolean cMemoryOwn)
LinearInterpolatorVector3D_f(Vector3Df start, Vector3Df 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 Vector3Df
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.Vector3Df
dx(double t)
Velocity at time tstatic long
getCPtr(LinearInterpolatorVector3D_f obj)
Vector3Df
getEnd()
Returns the end position of the interpolatorVector3Df
getStart()
Returns the start position of the interpolatorVector3Df
x(double t)
Position at time t-
Methods inherited from class org.robwork.sdurw_trajectory.InterpolatorVector3D_f
getCPtr
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Constructor Detail
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LinearInterpolatorVector3D_f
public LinearInterpolatorVector3D_f(long cPtr, boolean cMemoryOwn)
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LinearInterpolatorVector3D_f
public LinearInterpolatorVector3D_f(Vector3Df start, Vector3Df 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(LinearInterpolatorVector3D_f obj)
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delete
public void delete()
- Overrides:
delete
in classInterpolatorVector3D_f
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x
public Vector3Df x(double t)
Description copied from class:InterpolatorVector3D_f
Position at time t- Overrides:
x
in classInterpolatorVector3D_f
- Parameters:
t
- [in] time between 0 and length- Returns:
- Position
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dx
public Vector3Df dx(double t)
Description copied from class:InterpolatorVector3D_f
Velocity at time t- Overrides:
dx
in classInterpolatorVector3D_f
- Parameters:
t
- [in] time between 0 and length- Returns:
- Velocity
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ddx
public Vector3Df ddx(double t)
Description copied from class:InterpolatorVector3D_f
Acceleration at time t- Overrides:
ddx
in classInterpolatorVector3D_f
- Parameters:
t
- [in] time between 0 and length- Returns:
- Acceleration
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getStart
public Vector3Df getStart()
Returns the start position of the interpolator- Returns:
- The start position of the interpolator
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getEnd
public Vector3Df 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:InterpolatorVector3D_f
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 classInterpolatorVector3D_f
- Returns:
- duration
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