Package org.robwork.sdurw_trajectory
Class TimeMetricUtil
- java.lang.Object
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- org.robwork.sdurw_trajectory.TimeMetricUtil
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public class TimeMetricUtil extends java.lang.Object
methods for analyzing time distance of various paths
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Constructor Summary
Constructors Constructor Description TimeMetricUtil()
TimeMetricUtil(long cPtr, boolean cMemoryOwn)
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Method Summary
All Methods Static Methods Instance Methods Concrete Methods Modifier and Type Method Description void
delete()
static long
getCPtr(TimeMetricUtil obj)
static double
timeDistance(State from, State to, Device device)
The time it takes to move from from to to in a straight
line with the maximum velocities given of device.
static double
timeDistance(State from, State to, WorkCell workcell)
The time it takes to move from from to to in a straight line
with maximum device velocities given by workcell.
static double
timeDistance(Q from, Q to, Q velocity)
The time it takes to move from from to to in a straight line
with maximum velocities velocity.
This is an example of a scaled max-norm.
static double
timeDistance(Q from, Q to, Device device)
The time it takes to move from from to to in a straight
line with the maximum velocities given of device.
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Method Detail
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getCPtr
public static long getCPtr(TimeMetricUtil obj)
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delete
public void delete()
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timeDistance
public static double timeDistance(State from, State to, WorkCell workcell)
The time it takes to move from from to to in a straight line
with maximum device velocities given by workcell.
- Parameters:
from
- [in] Start stateto
- [in] End stateworkcell
- [in] Workcell associated with the states- Returns:
- The time
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timeDistance
public static double timeDistance(Q from, Q to, Q velocity)
The time it takes to move from from to to in a straight line
with maximum velocities velocity.
This is an example of a scaled max-norm.
- Parameters:
from
- [in] Start configurationto
- [in] End configurationpvelocity
- [in] Max velocity of the joints- Returns:
- The time
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timeDistance
public static double timeDistance(Q from, Q to, Device device)
The time it takes to move from from to to in a straight
line with the maximum velocities given of device.
- Parameters:
from
- [in] Start configurationto
- [in] End configurationdevice
- [in] The device to time for- Returns:
- The time
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timeDistance
public static double timeDistance(State from, State to, Device device)
The time it takes to move from from to to in a straight
line with the maximum velocities given of device.
- Parameters:
from
- [in] Start stateto
- [in] End statedevice
- [in] The device to time for- Returns:
- The time
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