Package org.robwork.sdurw_trajectory

Class ParabolicBlendRotation3D

java.lang.Object

org.robwork.sdurw_trajectory.BlendRotation3D

org.robwork.sdurw_trajectory.ParabolicBlendRotation3D

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.

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

Method Summary

Modifier and Type	Method	Description
Rotation3D	ddx(double t)	Conditional comment: End of conditional comment.
void	delete()
double	duration()	get the duration of the blend
Rotation3D	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

Methods inherited from class java.lang.Object

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

Constructor Detail

ParabolicBlendRotation3D

public ParabolicBlendRotation3D(long cPtr,
                                boolean cMemoryOwn)

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 segment

line2 - [in] Second segment

tau - [in] Blend time

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 segment

line2 - [in] Second segment

tau - [in] Blend time

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 segment

line2 - [in] Second segment

tau - [in] Blend time

Method Detail

getCPtr

public static long getCPtr(ParabolicBlendRotation3D obj)

delete

public void delete()

Overrides:

delete in class BlendRotation3D

x

public Rotation3D x(double t)

Conditional comment:

End of conditional comment.

Overrides:

x in class BlendRotation3D

Parameters:

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

Returns:

Position at time t

dx

public Rotation3D dx(double t)

Conditional comment:

End of conditional comment.

Overrides:

dx in class BlendRotation3D

Parameters:

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

Returns:

Velocity at time t

ddx

public Rotation3D ddx(double t)

Conditional comment:

End of conditional comment.

Overrides:

ddx in class BlendRotation3D

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 BlendRotation3D

Returns:

\tau_1

tau2

public double tau2()

Conditional comment:

End of conditional comment.

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

Overrides:

tau2 in class BlendRotation3D

Returns:

\tau_2