Package org.robwork.sdurw_trajectory
Class ParabolicBlendRotation3D
- java.lang.Object
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- org.robwork.sdurw_trajectory.BlendRotation3D
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- org.robwork.sdurw_trajectory.ParabolicBlendRotation3D
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public class ParabolicBlendRotation3D extends BlendRotation3D
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.
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Constructor Summary
Constructors Constructor Description ParabolicBlendRotation3D(long cPtr, boolean cMemoryOwn)
ParabolicBlendRotation3D(LinearInterpolatorRotation3DCPtr line1, LinearInterpolatorRotation3DCPtr line2, double tau)
Constructs parabolic blend between line1 and line2 with tau
as blend time.ParabolicBlendRotation3D(LinearInterpolatorRotation3DPtr line1, LinearInterpolatorRotation3DPtr line2, double tau)
Constructs parabolic blend between line1 and line2 with tau
as blend time.ParabolicBlendRotation3D(LinearInterpolatorRotation3D line1, LinearInterpolatorRotation3D line2, double tau)
Constructs parabolic blend between line1 and line2 with tau
as blend time
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Method Summary
All Methods Static Methods Instance Methods Concrete Methods Modifier and Type Method Description Rotation3D
ddx(double t)
Conditional comment:
End of conditional comment.void
delete()
double
duration()
get the duration of the blendRotation3D
dx(double t)
Conditional comment:
End of conditional comment.static long
getCPtr(ParabolicBlendRotation3D 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()Rotation3D
x(double t)
Conditional comment:
End of conditional comment.-
Methods inherited from class org.robwork.sdurw_trajectory.BlendRotation3D
getCPtr
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Constructor Detail
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ParabolicBlendRotation3D
public ParabolicBlendRotation3D(long cPtr, boolean cMemoryOwn)
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ParabolicBlendRotation3D
public ParabolicBlendRotation3D(LinearInterpolatorRotation3D line1, LinearInterpolatorRotation3D line2, double tau)
Constructs parabolic blend between line1 and line2 with tau
as blend time- Parameters:
line1
- [in] First segmentline2
- [in] Second segmenttau
- [in] Blend time
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ParabolicBlendRotation3D
public ParabolicBlendRotation3D(LinearInterpolatorRotation3DCPtr line1, LinearInterpolatorRotation3DCPtr 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 segmentline2
- [in] Second segmenttau
- [in] Blend time
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ParabolicBlendRotation3D
public ParabolicBlendRotation3D(LinearInterpolatorRotation3DPtr line1, LinearInterpolatorRotation3DPtr 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 segmentline2
- [in] Second segmenttau
- [in] Blend time
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Method Detail
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getCPtr
public static long getCPtr(ParabolicBlendRotation3D obj)
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delete
public void delete()
- Overrides:
delete
in classBlendRotation3D
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x
public Rotation3D x(double t)
Conditional comment:
End of conditional comment.- Overrides:
x
in classBlendRotation3D
- Parameters:
t
- [in] t\in[0,\tau_1+\tau_2]- Returns:
- Position at time t
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dx
public Rotation3D dx(double t)
Conditional comment:
End of conditional comment.- Overrides:
dx
in classBlendRotation3D
- Parameters:
t
- [in] t\in[0,\tau_1+\tau_2]- Returns:
- Velocity at time t
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ddx
public Rotation3D ddx(double t)
Conditional comment:
End of conditional comment.- Overrides:
ddx
in classBlendRotation3D
- Parameters:
t
- [in] t\in[0,\tau_1+\tau_2]- Returns:
- Acceleration at time t
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duration
public double duration()
get the duration of the blend- Returns:
- duration
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tau1
public double tau1()
Conditional comment:
End of conditional comment.
Note: For ParabolicBlend tau1()==tau2()- Overrides:
tau1
in classBlendRotation3D
- Returns:
- \tau_1
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tau2
public double tau2()
Conditional comment:
End of conditional comment.
Note: For ParabolicBlend tau1()==tau2()- Overrides:
tau2
in classBlendRotation3D
- Returns:
- \tau_2
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