Package org.robwork.sdurw_trajectory
Class ParabolicBlend_d_f
- java.lang.Object
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- org.robwork.sdurw_trajectory.Blend_d_f
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- org.robwork.sdurw_trajectory.ParabolicBlend_d_f
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public class ParabolicBlend_d_f extends Blend_d_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 ParabolicBlend_d_f(long cPtr, boolean cMemoryOwn)
ParabolicBlend_d_f(LinearInterpolator_d_fCPtr line1, LinearInterpolator_d_fCPtr line2, double tau)
Constructs parabolic blend between line1 and line2 with tau
as blend time.ParabolicBlend_d_f(LinearInterpolator_d_fPtr line1, LinearInterpolator_d_fPtr line2, double tau)
Constructs parabolic blend between line1 and line2 with tau
as blend time.ParabolicBlend_d_f(LinearInterpolator_d_f line1, LinearInterpolator_d_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 float
ddx(double t)
Conditional comment:
End of conditional comment.void
delete()
double
duration()
get the duration of the blendfloat
dx(double t)
Conditional comment:
End of conditional comment.static long
getCPtr(ParabolicBlend_d_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()float
x(double t)
Conditional comment:
End of conditional comment.
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Constructor Detail
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ParabolicBlend_d_f
public ParabolicBlend_d_f(long cPtr, boolean cMemoryOwn)
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ParabolicBlend_d_f
public ParabolicBlend_d_f(LinearInterpolator_d_f line1, LinearInterpolator_d_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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ParabolicBlend_d_f
public ParabolicBlend_d_f(LinearInterpolator_d_fCPtr line1, LinearInterpolator_d_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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ParabolicBlend_d_f
public ParabolicBlend_d_f(LinearInterpolator_d_fPtr line1, LinearInterpolator_d_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(ParabolicBlend_d_f obj)
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x
public float x(double t)
Conditional comment:
End of conditional comment.
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dx
public float dx(double t)
Conditional comment:
End of conditional comment.
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ddx
public float ddx(double t)
Conditional comment:
End of conditional comment.
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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()
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