Package org.robwork.sdurw_trajectory

Class ParabolicBlendTransform3D

java.lang.Object

org.robwork.sdurw_trajectory.BlendTransform3D

org.robwork.sdurw_trajectory.ParabolicBlendTransform3D

public class ParabolicBlendTransform3D
extends BlendTransform3D

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
ParabolicBlendTransform3D(long cPtr, boolean cMemoryOwn)
ParabolicBlendTransform3D(LinearInterpolatorTransform3DCPtr line1, LinearInterpolatorTransform3DCPtr line2, double tau)	Constructs parabolic blend between line1 and line2 with tau as blend time.
ParabolicBlendTransform3D(LinearInterpolatorTransform3DPtr line1, LinearInterpolatorTransform3DPtr line2, double tau)	Constructs parabolic blend between line1 and line2 with tau as blend time.
ParabolicBlendTransform3D(LinearInterpolatorTransform3D line1, LinearInterpolatorTransform3D line2, double tau)	Constructs parabolic blend between line1 and line2 with tau as blend time

Method Summary

Modifier and Type	Method	Description
Transform3D	ddx(double t)	Conditional comment: End of conditional comment.
void	delete()
double	duration()	get the duration of the blend
Transform3D	dx(double t)	Conditional comment: End of conditional comment.
static long	getCPtr(ParabolicBlendTransform3D 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()
Transform3D	x(double t)	Conditional comment: End of conditional comment.

Methods inherited from class org.robwork.sdurw_trajectory.BlendTransform3D

getCPtr

Methods inherited from class java.lang.Object

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

Constructor Detail

ParabolicBlendTransform3D

public ParabolicBlendTransform3D(long cPtr,
                                 boolean cMemoryOwn)

ParabolicBlendTransform3D

public ParabolicBlendTransform3D(LinearInterpolatorTransform3D line1,
                                 LinearInterpolatorTransform3D 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

ParabolicBlendTransform3D

public ParabolicBlendTransform3D(LinearInterpolatorTransform3DCPtr line1,
                                 LinearInterpolatorTransform3DCPtr 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

ParabolicBlendTransform3D

public ParabolicBlendTransform3D(LinearInterpolatorTransform3DPtr line1,
                                 LinearInterpolatorTransform3DPtr 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(ParabolicBlendTransform3D obj)

delete

public void delete()

Overrides:

delete in class BlendTransform3D

x

public Transform3D x(double t)

Conditional comment:

End of conditional comment.

Overrides:

x in class BlendTransform3D

Parameters:

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

Returns:

Position at time t

dx

public Transform3D dx(double t)

Conditional comment:

End of conditional comment.

Overrides:

dx in class BlendTransform3D

Parameters:

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

Returns:

Velocity at time t

ddx

public Transform3D ddx(double t)

Conditional comment:

End of conditional comment.

Overrides:

ddx in class BlendTransform3D

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 BlendTransform3D

Returns:

\tau_1

tau2

public double tau2()

Conditional comment:

End of conditional comment.

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

Overrides:

tau2 in class BlendTransform3D

Returns:

\tau_2