Package org.robwork.sdurw_trajectory

Class ParabolicBlend_d

java.lang.Object

org.robwork.sdurw_trajectory.Blend_d

org.robwork.sdurw_trajectory.ParabolicBlend_d

public class ParabolicBlend_d
extends Blend_d

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
ParabolicBlend_d(long cPtr, boolean cMemoryOwn)
ParabolicBlend_d(LinearInterpolator_dCPtr line1, LinearInterpolator_dCPtr line2, double tau)	Constructs parabolic blend between line1 and line2 with tau as blend time.
ParabolicBlend_d(LinearInterpolator_dPtr line1, LinearInterpolator_dPtr line2, double tau)	Constructs parabolic blend between line1 and line2 with tau as blend time.
ParabolicBlend_d(LinearInterpolator_d line1, LinearInterpolator_d line2, double tau)	Constructs parabolic blend between line1 and line2 with tau as blend time

Method Summary

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

Methods inherited from class org.robwork.sdurw_trajectory.Blend_d

getCPtr

Methods inherited from class java.lang.Object

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

Constructor Detail

ParabolicBlend_d

public ParabolicBlend_d(long cPtr,
                        boolean cMemoryOwn)

ParabolicBlend_d

public ParabolicBlend_d(LinearInterpolator_d line1,
                        LinearInterpolator_d 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

ParabolicBlend_d

public ParabolicBlend_d(LinearInterpolator_dCPtr line1,
                        LinearInterpolator_dCPtr 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

ParabolicBlend_d

public ParabolicBlend_d(LinearInterpolator_dPtr line1,
                        LinearInterpolator_dPtr 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(ParabolicBlend_d obj)

delete

public void delete()

Overrides:

delete in class Blend_d

x

public double x(double t)

Conditional comment:

End of conditional comment.

Overrides:

x in class Blend_d

Parameters:

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

Returns:

Position at time t

dx

public double dx(double t)

Conditional comment:

End of conditional comment.

Overrides:

dx in class Blend_d

Parameters:

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

Returns:

Velocity at time t

ddx

public double ddx(double t)

Conditional comment:

End of conditional comment.

Overrides:

ddx in class Blend_d

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 Blend_d

Returns:

\tau_1

tau2

public double tau2()

Conditional comment:

End of conditional comment.

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

Overrides:

tau2 in class Blend_d

Returns:

\tau_2