Package org.robwork.sdurw_trajectory
Class LloydHaywardBlendQ
- java.lang.Object
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- org.robwork.sdurw_trajectory.BlendQ
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- org.robwork.sdurw_trajectory.LloydHaywardBlendQ
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public class LloydHaywardBlendQ extends BlendQ
Implements LloydHayward blending
The LloydHayward blend [1], makes a smooth continous differentiable transition between
two interpolators.
[1]: J. Lloyd, V. Hayward. Real-Time Trajectory Generation Using Blend Functions,
Proc. Int. Conf. on Robotics and Automation, 1991, pp. 784-798.
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Constructor Summary
Constructors Constructor Description LloydHaywardBlendQ(long cPtr, boolean cMemoryOwn)
LloydHaywardBlendQ(InterpolatorQ interpolator1, InterpolatorQ interpolator2, double tau)
Constructs LloydHaywardBlend between interpolator1 and interpolator2.
The blend starts tau before the end of interpolator1 and finished tau after the
start of interpolator2.LloydHaywardBlendQ(InterpolatorQ interpolator1, InterpolatorQ interpolator2, double tau, double kappa)
Constructs LloydHaywardBlend between interpolator1 and interpolator2.
The blend starts tau before the end of interpolator1 and finished tau after the
start of interpolator2.
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Method Summary
All Methods Static Methods Instance Methods Concrete Methods Modifier and Type Method Description Q
ddx(double t)
The acceleration for a given time tvoid
delete()
Q
dx(double t)
The velocity for a given time tstatic long
getCPtr(LloydHaywardBlendQ obj)
double
kappa()
Returns the kappa value used in the blenddouble
tau1()
Note: For ParabolicBlend getTau1()==getTau2()double
tau2()
Note: For ParabolicBlend getTau1()==getTau2()Q
x(double t)
<T>::x
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Constructor Detail
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LloydHaywardBlendQ
public LloydHaywardBlendQ(long cPtr, boolean cMemoryOwn)
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LloydHaywardBlendQ
public LloydHaywardBlendQ(InterpolatorQ interpolator1, InterpolatorQ interpolator2, double tau, double kappa)
Constructs LloydHaywardBlend between interpolator1 and interpolator2.
The blend starts tau before the end of interpolator1 and finished tau after the
start of interpolator2. The constant kappa specifies characteristics of the blend
as described in [1].
- Parameters:
interpolator1
- [in] First interpolator, no ownership transferredinterpolator2
- [in] Second interpolator, no ownership transferredtau
- [in] Blend timekappa
- [in] Blend characteristic (default 15/2 for acceleration minimal blend
between linie segments)
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LloydHaywardBlendQ
public LloydHaywardBlendQ(InterpolatorQ interpolator1, InterpolatorQ interpolator2, double tau)
Constructs LloydHaywardBlend between interpolator1 and interpolator2.
The blend starts tau before the end of interpolator1 and finished tau after the
start of interpolator2. The constant kappa specifies characteristics of the blend
as described in [1].
- Parameters:
interpolator1
- [in] First interpolator, no ownership transferredinterpolator2
- [in] Second interpolator, no ownership transferredtau
- [in] Blend time
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Method Detail
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getCPtr
public static long getCPtr(LloydHaywardBlendQ obj)
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x
public Q x(double t)
<T>::x
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ddx
public Q ddx(double t)
Description copied from class:BlendQ
The acceleration for a given time t
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tau1
public double tau1()
Note: For ParabolicBlend getTau1()==getTau2()
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tau2
public double tau2()
Note: For ParabolicBlend getTau1()==getTau2()
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kappa
public double kappa()
Returns the kappa value used in the blend
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