Package org.robwork.sdurw_trajectory

Class TrajectorySequenceVector3DPtr

java.lang.Object

org.robwork.sdurw_trajectory.TrajectorySequenceVector3DPtr

public class TrajectorySequenceVector3DPtr
extends java.lang.Object

Ptr stores a pointer and optionally takes ownership of the value.

Constructor Summary

Constructors

Constructor	Description
TrajectorySequenceVector3DPtr()	Default constructor yielding a NULL-pointer.
TrajectorySequenceVector3DPtr(long cPtr, boolean cMemoryOwn)
TrajectorySequenceVector3DPtr(TrajectorySequenceVector3D ptr)	Do not take ownership of ptr. ptr can be null. The constructor is implicit on purpose.

Method Summary

Modifier and Type	Method	Description
TrajectorySequenceVector3D	__ref__()	Dereferencing operator.
TrajectorySequenceVector3DCPtr	cptr()
Vector3D	ddx(double t)
void	delete()
TrajectorySequenceVector3D	deref()	The pointer stored in the object.
double	duration()
Vector3D	dx(double t)
double	endTime()	Returns the endTime of the trajectory. The end time equals startTime() + duration().
boolean	equals(TrajectorySequenceVector3D p)
static long	getCPtr(TrajectorySequenceVector3DPtr obj)
TrajectorySequenceVector3D	getDeref()	Member access operator.
TrajectoryIteratorVector3DPtr	getIterator(double dt)
SWIGTYPE_p_std__vectorT_rw__math__Vector3DT_double_t_t	getPath(double dt)	Constructs a discrete path based on the trajectory. If uniform = true the path will be divided into the smallest number of uniform steps for which the time stepsize <= dt. If uniform = false the path is divided into steps of duration dt, except the last interval which may be shorter to include the end point.
SWIGTYPE_p_std__vectorT_rw__math__Vector3DT_double_t_t	getPath(double dt, boolean uniform)	Constructs a discrete path based on the trajectory. If uniform = true the path will be divided into the smallest number of uniform steps for which the time stepsize <= dt. If uniform = false the path is divided into steps of duration dt, except the last interval which may be shorter to include the end point.
boolean	isNull()	checks if the pointer is null
boolean	isShared()	check if this Ptr has shared ownership or none ownership
double	startTime()
Vector3D	x(double t)

Methods inherited from class java.lang.Object

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

Constructor Detail

TrajectorySequenceVector3DPtr

public TrajectorySequenceVector3DPtr(long cPtr,
                                     boolean cMemoryOwn)

TrajectorySequenceVector3DPtr

public TrajectorySequenceVector3DPtr()

Default constructor yielding a NULL-pointer.

TrajectorySequenceVector3DPtr

public TrajectorySequenceVector3DPtr(TrajectorySequenceVector3D ptr)

Do not take ownership of ptr.

ptr can be null.

The constructor is implicit on purpose.

Method Detail

getCPtr

public static long getCPtr(TrajectorySequenceVector3DPtr obj)

delete

public void delete()

deref

public TrajectorySequenceVector3D deref()

The pointer stored in the object.

__ref__

public TrajectorySequenceVector3D __ref__()

Dereferencing operator.

getDeref

public TrajectorySequenceVector3D getDeref()

Member access operator.

equals

public boolean equals(TrajectorySequenceVector3D p)

isShared

public boolean isShared()

check if this Ptr has shared ownership or none
ownership

Returns:

true if Ptr has shared ownership, false if it has no ownership.

isNull

public boolean isNull()

checks if the pointer is null

Returns:

Returns true if the pointer is null

cptr

public TrajectorySequenceVector3DCPtr cptr()

x

public Vector3D x(double t)

dx

public Vector3D dx(double t)

ddx

public Vector3D ddx(double t)

duration

public double duration()

startTime

public double startTime()

getIterator

public TrajectoryIteratorVector3DPtr getIterator(double dt)

endTime

public double endTime()

Returns the endTime of the trajectory.

The end time equals startTime() + duration().

Returns:

The end time

getPath

public SWIGTYPE_p_std__vectorT_rw__math__Vector3DT_double_t_t getPath(double dt,
                                                                      boolean uniform)

Constructs a discrete path based on the trajectory.

If uniform = true the path will be divided into the smallest number of
uniform steps for which the time stepsize <= dt.

If uniform = false the path is divided into steps of duration dt, except the
last interval which may be shorter to include the end point.

Parameters:

dt - [in] Step size

uniform - [in] Whether to sample the path uniformly

Returns:

The discrete path.

getPath

public SWIGTYPE_p_std__vectorT_rw__math__Vector3DT_double_t_t getPath(double dt)

Constructs a discrete path based on the trajectory.

If uniform = true the path will be divided into the smallest number of
uniform steps for which the time stepsize <= dt.

If uniform = false the path is divided into steps of duration dt, except the
last interval which may be shorter to include the end point.

Parameters:

dt - [in] Step size

Returns:

The discrete path.