Package org.robwork.sdurw_trajectory

Class LloydHaywardBlend_d

  • public class LloydHaywardBlend_d
extends Blend_d
    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.

    • Constructor Summary

      Constructors 
      Constructor Description
      LloydHaywardBlend_d​(long cPtr, boolean cMemoryOwn)  
      LloydHaywardBlend_d​(Interpolator_d interpolator1, Interpolator_d 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.
      LloydHaywardBlend_d​(Interpolator_d interpolator1, Interpolator_d 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.

    • Method Summary

      All Methods Static Methods Instance Methods Concrete Methods 
      Modifier and Type Method Description
      double ddx​(double t)
      The acceleration for a given time t
      void delete()  
      double dx​(double t)
      The velocity for a given time t
      static long getCPtr​(LloydHaywardBlend_d obj)  
      double kappa()
      Returns the kappa value used in the blend
      double tau1()


      Note: For ParabolicBlend getTau1()==getTau2()
      double tau2()


      Note: For ParabolicBlend getTau1()==getTau2()
      double x​(double t)
      <T>::x

      • Methods inherited from class org.robwork.sdurw_trajectory.Blend_d

        getCPtr

      • Methods inherited from class java.lang.Object

        equals, getClass, hashCode, notify, notifyAll, toString, wait, wait, wait

    • Constructor Detail

      • LloydHaywardBlend_d

        public LloydHaywardBlend_d​(long cPtr,
                           boolean cMemoryOwn)

      • LloydHaywardBlend_d

        public LloydHaywardBlend_d​(Interpolator_d interpolator1,
                           Interpolator_d 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 transferred
        interpolator2 - [in] Second interpolator, no ownership transferred
        tau - [in] Blend time
        kappa - [in] Blend characteristic (default 15/2 for acceleration minimal blend
        between linie segments)

      • LloydHaywardBlend_d

        public LloydHaywardBlend_d​(Interpolator_d interpolator1,
                           Interpolator_d 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 transferred
        interpolator2 - [in] Second interpolator, no ownership transferred
        tau - [in] Blend time

    • Method Detail

      • delete

        public void delete()
        Overrides:
        delete in class Blend_d

      • x

        public double x​(double t)
        <T>::x
        Overrides:
        x in class Blend_d
        Parameters:
        t - [in] t\in[0,\tau_1+\tau_2]
        Returns:
        Position at time t

      • dx

        public double dx​(double t)
        Description copied from class: Blend_d
        The velocity for a given time t
        Overrides:
        dx in class Blend_d
        Parameters:
        t - [in] t\in[0,\tau_1+\tau_2]
        Returns:
        Velocity at time t

      • ddx

        public double ddx​(double t)
        Description copied from class: Blend_d
        The acceleration for a given time t
        Overrides:
        ddx in class Blend_d
        Parameters:
        t - [in] t\in[0,\tau_1+\tau_2]
        Returns:
        Acceleration at time t

      • tau1

        public double tau1()


        Note: For ParabolicBlend getTau1()==getTau2()
        Overrides:
        tau1 in class Blend_d
        Returns:
        \tau_1

      • tau2

        public double tau2()


        Note: For ParabolicBlend getTau1()==getTau2()
        Overrides:
        tau2 in class Blend_d
        Returns:
        \tau_2

      • kappa

        public double kappa()
        Returns the kappa value used in the blend