Package org.robwork.sdurw_trajectory

Class ParabolicBlendQ

java.lang.Object

org.robwork.sdurw_trajectory.BlendQ

org.robwork.sdurw_trajectory.ParabolicBlendQ

public class ParabolicBlendQ
extends BlendQ

Implements a parabolic blend

A parabolic blend is characterized by a constant acceleration through the blend. The current
implementation only supports blending between linear segments.

Constructor Summary

Constructors

Constructor	Description
ParabolicBlendQ(long cPtr, boolean cMemoryOwn)
ParabolicBlendQ(LinearInterpolatorQCPtr line1, LinearInterpolatorQCPtr line2, double tau)	Constructs parabolic blend between line1 and line2 with tau as blend time.
ParabolicBlendQ(LinearInterpolatorQPtr line1, LinearInterpolatorQPtr line2, double tau)	Constructs parabolic blend between line1 and line2 with tau as blend time.
ParabolicBlendQ(LinearInterpolatorQ line1, LinearInterpolatorQ line2, double tau)	Constructs parabolic blend between line1 and line2 with tau as blend time

Method Summary

Modifier and Type	Method	Description
Q	ddx(double t)	Conditional comment: End of conditional comment.
void	delete()
double	duration()	get the duration of the blend
Q	dx(double t)	Conditional comment: End of conditional comment.
static long	getCPtr(ParabolicBlendQ obj)
double	tau1()	Conditional comment: End of conditional comment. Note: For ParabolicBlend tau1()==tau2()
double	tau2()	Conditional comment: End of conditional comment. Note: For ParabolicBlend tau1()==tau2()
Q	x(double t)	Conditional comment: End of conditional comment.

Methods inherited from class org.robwork.sdurw_trajectory.BlendQ

getCPtr

Methods inherited from class java.lang.Object

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

Constructor Detail

ParabolicBlendQ

public ParabolicBlendQ(long cPtr,
                       boolean cMemoryOwn)

ParabolicBlendQ

public ParabolicBlendQ(LinearInterpolatorQ line1,
                       LinearInterpolatorQ line2,
                       double tau)

Constructs parabolic blend between line1 and line2 with tau
as blend time

Parameters:

line1 - [in] First segment

line2 - [in] Second segment

tau - [in] Blend time

ParabolicBlendQ

public ParabolicBlendQ(LinearInterpolatorQCPtr line1,
                       LinearInterpolatorQCPtr line2,
                       double tau)

Constructs parabolic blend between line1 and line2 with tau
as blend time. The segments is copied for internal storage

Parameters:

line1 - [in] First segment

line2 - [in] Second segment

tau - [in] Blend time

ParabolicBlendQ

public ParabolicBlendQ(LinearInterpolatorQPtr line1,
                       LinearInterpolatorQPtr line2,
                       double tau)

Constructs parabolic blend between line1 and line2 with tau
as blend time. The segments is copied for internal storage

Parameters:

line1 - [in] First segment

line2 - [in] Second segment

tau - [in] Blend time

Method Detail

getCPtr

public static long getCPtr(ParabolicBlendQ obj)

delete

public void delete()

Overrides:

delete in class BlendQ

x

public Q x(double t)

Conditional comment:

End of conditional comment.

Overrides:

x in class BlendQ

Parameters:

t - [in] t\in[0,\tau_1+\tau_2]

Returns:

Position at time t

dx

public Q dx(double t)

Conditional comment:

End of conditional comment.

Overrides:

dx in class BlendQ

Parameters:

t - [in] t\in[0,\tau_1+\tau_2]

Returns:

Velocity at time t

ddx

public Q ddx(double t)

Conditional comment:

End of conditional comment.

Overrides:

ddx in class BlendQ

Parameters:

t - [in] t\in[0,\tau_1+\tau_2]

Returns:

Acceleration at time t

duration

public double duration()

get the duration of the blend

Returns:

duration

tau1

public double tau1()

Conditional comment:

End of conditional comment.

Note: For ParabolicBlend tau1()==tau2()

Overrides:

tau1 in class BlendQ

Returns:

\tau_1

tau2

public double tau2()

Conditional comment:

End of conditional comment.

Note: For ParabolicBlend tau1()==tau2()

Overrides:

tau2 in class BlendQ

Returns:

\tau_2