Package org.robwork.sdurw_trajectory
Class ParabolicBlendVector2D_f
- java.lang.Object
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- org.robwork.sdurw_trajectory.BlendVector2D_f
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- org.robwork.sdurw_trajectory.ParabolicBlendVector2D_f
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public class ParabolicBlendVector2D_f extends BlendVector2D_f
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 ParabolicBlendVector2D_f(long cPtr, boolean cMemoryOwn)
ParabolicBlendVector2D_f(LinearInterpolatorVector2D_fCPtr line1, LinearInterpolatorVector2D_fCPtr line2, double tau)
Constructs parabolic blend between line1 and line2 with tau
as blend time.ParabolicBlendVector2D_f(LinearInterpolatorVector2D_fPtr line1, LinearInterpolatorVector2D_fPtr line2, double tau)
Constructs parabolic blend between line1 and line2 with tau
as blend time.ParabolicBlendVector2D_f(LinearInterpolatorVector2D_f line1, LinearInterpolatorVector2D_f 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 Vector2Df
ddx(double t)
Conditional comment:
End of conditional comment.void
delete()
double
duration()
get the duration of the blendVector2Df
dx(double t)
Conditional comment:
End of conditional comment.static long
getCPtr(ParabolicBlendVector2D_f 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()Vector2Df
x(double t)
Conditional comment:
End of conditional comment.-
Methods inherited from class org.robwork.sdurw_trajectory.BlendVector2D_f
getCPtr
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Constructor Detail
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ParabolicBlendVector2D_f
public ParabolicBlendVector2D_f(long cPtr, boolean cMemoryOwn)
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ParabolicBlendVector2D_f
public ParabolicBlendVector2D_f(LinearInterpolatorVector2D_f line1, LinearInterpolatorVector2D_f 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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ParabolicBlendVector2D_f
public ParabolicBlendVector2D_f(LinearInterpolatorVector2D_fCPtr line1, LinearInterpolatorVector2D_fCPtr 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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ParabolicBlendVector2D_f
public ParabolicBlendVector2D_f(LinearInterpolatorVector2D_fPtr line1, LinearInterpolatorVector2D_fPtr 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(ParabolicBlendVector2D_f obj)
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delete
public void delete()
- Overrides:
delete
in classBlendVector2D_f
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x
public Vector2Df x(double t)
Conditional comment:
End of conditional comment.- Overrides:
x
in classBlendVector2D_f
- Parameters:
t
- [in] t\in[0,\tau_1+\tau_2]- Returns:
- Position at time t
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dx
public Vector2Df dx(double t)
Conditional comment:
End of conditional comment.- Overrides:
dx
in classBlendVector2D_f
- Parameters:
t
- [in] t\in[0,\tau_1+\tau_2]- Returns:
- Velocity at time t
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ddx
public Vector2Df ddx(double t)
Conditional comment:
End of conditional comment.- Overrides:
ddx
in classBlendVector2D_f
- 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 classBlendVector2D_f
- 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 classBlendVector2D_f
- Returns:
- \tau_2
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