sdurw_trajectory module

class sdurw_trajectory.sdurw_trajectory.BlendQ(*args, **kwargs)

Bases: object

Interface for blending

A Blend describes a way to blend between to consecutive interpolators. If we let \(t_1\) be the time switching from one interpolator to the next, then the blend control the path in the interval \([t_1-\tau_1;t_1+\tau_2]\).

See the specific implementations for at description of which template arguments that are valid.

__init__(*args, **kwargs)

ddx(t)

The acceleration for a given time t :type t: float :param t: [in] \(t\in[0,\tau_1+\tau_2]\) :rtype: Q :return: Acceleration at time t

dx(t)

The velocity for a given time t :type t: float :param t: [in] \(t\in[0,\tau_1+\tau_2]\) :rtype: Q :return: Velocity at time t

tau1()

The time \(\tau_1\) as defined in class definition :rtype: float :return: \(\tau_1\)

tau2()

The time \(\tau_2\) as defined in class definition :rtype: float :return: \(\tau_2\)

property thisown

The membership flag

x(t)

The position for a given time t :type t: float :param t: [in] \(t\in[0,\tau_1+\tau_2]\) :rtype: Q :return: Position at time t

class sdurw_trajectory.sdurw_trajectory.BlendQCPtr(*args)

Bases: object

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

__init__(*args)

Overload 1:

Default constructor yielding a NULL-pointer.

Overload 2:

Do not take ownership of ptr.

ptr can be null.

The constructor is implicit on purpose.

ddx(t)

The acceleration for a given time t :type t: float :param t: [in] \(t\in[0,\tau_1+\tau_2]\) :rtype: Q :return: Acceleration at time t

deref()

The pointer stored in the object.

dx(t)

The velocity for a given time t :type t: float :param t: [in] \(t\in[0,\tau_1+\tau_2]\) :rtype: Q :return: Velocity at time t

getDeref()

Member access operator.

isNull()

checks if the pointer is null :rtype: boolean :return: Returns true if the pointer is null

isShared()

check if this Ptr has shared ownership or none ownership :rtype: boolean :return: true if Ptr has shared ownership, false if it has no ownership.

tau1()

The time \(\tau_1\) as defined in class definition :rtype: float :return: \(\tau_1\)

tau2()

The time \(\tau_2\) as defined in class definition :rtype: float :return: \(\tau_2\)

property thisown

The membership flag

x(t)

The position for a given time t :type t: float :param t: [in] \(t\in[0,\tau_1+\tau_2]\) :rtype: Q :return: Position at time t

class sdurw_trajectory.sdurw_trajectory.BlendQPtr(*args)

Bases: object

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

__init__(*args)

Overload 1:

Default constructor yielding a NULL-pointer.

Overload 2:

Do not take ownership of ptr.

ptr can be null.

The constructor is implicit on purpose.

cptr()

ddx(t)

The acceleration for a given time t :type t: float :param t: [in] \(t\in[0,\tau_1+\tau_2]\) :rtype: Q :return: Acceleration at time t

deref()

The pointer stored in the object.

dx(t)

The velocity for a given time t :type t: float :param t: [in] \(t\in[0,\tau_1+\tau_2]\) :rtype: Q :return: Velocity at time t

getDeref()

Member access operator.

isNull()

checks if the pointer is null :rtype: boolean :return: Returns true if the pointer is null

isShared()

check if this Ptr has shared ownership or none ownership :rtype: boolean :return: true if Ptr has shared ownership, false if it has no ownership.

tau1()

The time \(\tau_1\) as defined in class definition :rtype: float :return: \(\tau_1\)

tau2()

The time \(\tau_2\) as defined in class definition :rtype: float :return: \(\tau_2\)

property thisown

The membership flag

x(t)

The position for a given time t :type t: float :param t: [in] \(t\in[0,\tau_1+\tau_2]\) :rtype: Q :return: Position at time t

sdurw_trajectory.sdurw_trajectory.BlendR1

alias of Blend_d

sdurw_trajectory.sdurw_trajectory.BlendR2

alias of BlendVector2D

sdurw_trajectory.sdurw_trajectory.BlendR3

alias of BlendVector3D

class sdurw_trajectory.sdurw_trajectory.BlendRotation3D(*args, **kwargs)

Bases: object

Interface for blending

A Blend describes a way to blend between to consecutive interpolators. If we let \(t_1\) be the time switching from one interpolator to the next, then the blend control the path in the interval \([t_1-\tau_1;t_1+\tau_2]\).

See the specific implementations for at description of which template arguments that are valid.

__init__(*args, **kwargs)

ddx(t)

The acceleration for a given time t :type t: float :param t: [in] \(t\in[0,\tau_1+\tau_2]\) :rtype: rw::math::Rotation3D< double > :return: Acceleration at time t

dx(t)

The velocity for a given time t :type t: float :param t: [in] \(t\in[0,\tau_1+\tau_2]\) :rtype: rw::math::Rotation3D< double > :return: Velocity at time t

tau1()

The time \(\tau_1\) as defined in class definition :rtype: float :return: \(\tau_1\)

tau2()

The time \(\tau_2\) as defined in class definition :rtype: float :return: \(\tau_2\)

property thisown

The membership flag

x(t)

The position for a given time t :type t: float :param t: [in] \(t\in[0,\tau_1+\tau_2]\) :rtype: rw::math::Rotation3D< double > :return: Position at time t

class sdurw_trajectory.sdurw_trajectory.BlendRotation3DCPtr(*args)

Bases: object

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

__init__(*args)

Overload 1:

Default constructor yielding a NULL-pointer.

Overload 2:

Do not take ownership of ptr.

ptr can be null.

The constructor is implicit on purpose.

ddx(t)

The acceleration for a given time t :type t: float :param t: [in] \(t\in[0,\tau_1+\tau_2]\) :rtype: rw::math::Rotation3D< double > :return: Acceleration at time t

deref()

The pointer stored in the object.

dx(t)

The velocity for a given time t :type t: float :param t: [in] \(t\in[0,\tau_1+\tau_2]\) :rtype: rw::math::Rotation3D< double > :return: Velocity at time t

getDeref()

Member access operator.

isNull()

checks if the pointer is null :rtype: boolean :return: Returns true if the pointer is null

isShared()

check if this Ptr has shared ownership or none ownership :rtype: boolean :return: true if Ptr has shared ownership, false if it has no ownership.

tau1()

The time \(\tau_1\) as defined in class definition :rtype: float :return: \(\tau_1\)

tau2()

The time \(\tau_2\) as defined in class definition :rtype: float :return: \(\tau_2\)

property thisown

The membership flag

x(t)

The position for a given time t :type t: float :param t: [in] \(t\in[0,\tau_1+\tau_2]\) :rtype: rw::math::Rotation3D< double > :return: Position at time t

class sdurw_trajectory.sdurw_trajectory.BlendRotation3DPtr(*args)

Bases: object

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

__init__(*args)

Overload 1:

Default constructor yielding a NULL-pointer.

Overload 2:

Do not take ownership of ptr.

ptr can be null.

The constructor is implicit on purpose.

cptr()

ddx(t)

The acceleration for a given time t :type t: float :param t: [in] \(t\in[0,\tau_1+\tau_2]\) :rtype: rw::math::Rotation3D< double > :return: Acceleration at time t

deref()

The pointer stored in the object.

dx(t)

The velocity for a given time t :type t: float :param t: [in] \(t\in[0,\tau_1+\tau_2]\) :rtype: rw::math::Rotation3D< double > :return: Velocity at time t

getDeref()

Member access operator.

isNull()

checks if the pointer is null :rtype: boolean :return: Returns true if the pointer is null

isShared()

check if this Ptr has shared ownership or none ownership :rtype: boolean :return: true if Ptr has shared ownership, false if it has no ownership.

tau1()

The time \(\tau_1\) as defined in class definition :rtype: float :return: \(\tau_1\)

tau2()

The time \(\tau_2\) as defined in class definition :rtype: float :return: \(\tau_2\)

property thisown

The membership flag

x(t)

The position for a given time t :type t: float :param t: [in] \(t\in[0,\tau_1+\tau_2]\) :rtype: rw::math::Rotation3D< double > :return: Position at time t

class sdurw_trajectory.sdurw_trajectory.BlendRotation3D_f(*args, **kwargs)

Bases: object

Interface for blending

A Blend describes a way to blend between to consecutive interpolators. If we let \(t_1\) be the time switching from one interpolator to the next, then the blend control the path in the interval \([t_1-\tau_1;t_1+\tau_2]\).

See the specific implementations for at description of which template arguments that are valid.

__init__(*args, **kwargs)

ddx(t)

The acceleration for a given time t :type t: float :param t: [in] \(t\in[0,\tau_1+\tau_2]\) :rtype: rw::math::Rotation3D< float > :return: Acceleration at time t

dx(t)

The velocity for a given time t :type t: float :param t: [in] \(t\in[0,\tau_1+\tau_2]\) :rtype: rw::math::Rotation3D< float > :return: Velocity at time t

tau1()

The time \(\tau_1\) as defined in class definition :rtype: float :return: \(\tau_1\)

tau2()

The time \(\tau_2\) as defined in class definition :rtype: float :return: \(\tau_2\)

property thisown

The membership flag

x(t)

The position for a given time t :type t: float :param t: [in] \(t\in[0,\tau_1+\tau_2]\) :rtype: rw::math::Rotation3D< float > :return: Position at time t

class sdurw_trajectory.sdurw_trajectory.BlendRotation3D_fCPtr(*args)

Bases: object

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

__init__(*args)

Overload 1:

Default constructor yielding a NULL-pointer.

Overload 2:

Do not take ownership of ptr.

ptr can be null.

The constructor is implicit on purpose.

ddx(t)

The acceleration for a given time t :type t: float :param t: [in] \(t\in[0,\tau_1+\tau_2]\) :rtype: rw::math::Rotation3D< float > :return: Acceleration at time t

deref()

The pointer stored in the object.

dx(t)

The velocity for a given time t :type t: float :param t: [in] \(t\in[0,\tau_1+\tau_2]\) :rtype: rw::math::Rotation3D< float > :return: Velocity at time t

getDeref()

Member access operator.

isNull()

checks if the pointer is null :rtype: boolean :return: Returns true if the pointer is null

isShared()

check if this Ptr has shared ownership or none ownership :rtype: boolean :return: true if Ptr has shared ownership, false if it has no ownership.

tau1()

The time \(\tau_1\) as defined in class definition :rtype: float :return: \(\tau_1\)

tau2()

The time \(\tau_2\) as defined in class definition :rtype: float :return: \(\tau_2\)

property thisown

The membership flag

x(t)

The position for a given time t :type t: float :param t: [in] \(t\in[0,\tau_1+\tau_2]\) :rtype: rw::math::Rotation3D< float > :return: Position at time t

class sdurw_trajectory.sdurw_trajectory.BlendRotation3D_fPtr(*args)

Bases: object

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

__init__(*args)

Overload 1:

Default constructor yielding a NULL-pointer.

Overload 2:

Do not take ownership of ptr.

ptr can be null.

The constructor is implicit on purpose.

cptr()

ddx(t)

The acceleration for a given time t :type t: float :param t: [in] \(t\in[0,\tau_1+\tau_2]\) :rtype: rw::math::Rotation3D< float > :return: Acceleration at time t

deref()

The pointer stored in the object.

dx(t)

The velocity for a given time t :type t: float :param t: [in] \(t\in[0,\tau_1+\tau_2]\) :rtype: rw::math::Rotation3D< float > :return: Velocity at time t

getDeref()

Member access operator.

isNull()

checks if the pointer is null :rtype: boolean :return: Returns true if the pointer is null

isShared()

check if this Ptr has shared ownership or none ownership :rtype: boolean :return: true if Ptr has shared ownership, false if it has no ownership.

tau1()

The time \(\tau_1\) as defined in class definition :rtype: float :return: \(\tau_1\)

tau2()

The time \(\tau_2\) as defined in class definition :rtype: float :return: \(\tau_2\)

property thisown

The membership flag

x(t)

The position for a given time t :type t: float :param t: [in] \(t\in[0,\tau_1+\tau_2]\) :rtype: rw::math::Rotation3D< float > :return: Position at time t

sdurw_trajectory.sdurw_trajectory.BlendSE3

alias of BlendTransform3D

sdurw_trajectory.sdurw_trajectory.BlendSO3

alias of BlendRotation3D

class sdurw_trajectory.sdurw_trajectory.BlendTransform3D(*args, **kwargs)

Bases: object

Interface for blending

A Blend describes a way to blend between to consecutive interpolators. If we let \(t_1\) be the time switching from one interpolator to the next, then the blend control the path in the interval \([t_1-\tau_1;t_1+\tau_2]\).

See the specific implementations for at description of which template arguments that are valid.

__init__(*args, **kwargs)

ddx(t)

The acceleration for a given time t :type t: float :param t: [in] \(t\in[0,\tau_1+\tau_2]\) :rtype: rw::math::Transform3D< double > :return: Acceleration at time t

dx(t)

The velocity for a given time t :type t: float :param t: [in] \(t\in[0,\tau_1+\tau_2]\) :rtype: rw::math::Transform3D< double > :return: Velocity at time t

tau1()

The time \(\tau_1\) as defined in class definition :rtype: float :return: \(\tau_1\)

tau2()

The time \(\tau_2\) as defined in class definition :rtype: float :return: \(\tau_2\)

property thisown

The membership flag

x(t)

The position for a given time t :type t: float :param t: [in] \(t\in[0,\tau_1+\tau_2]\) :rtype: rw::math::Transform3D< double > :return: Position at time t

class sdurw_trajectory.sdurw_trajectory.BlendTransform3DCPtr(*args)

Bases: object

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

__init__(*args)

Overload 1:

Default constructor yielding a NULL-pointer.

Overload 2:

Do not take ownership of ptr.

ptr can be null.

The constructor is implicit on purpose.

ddx(t)

The acceleration for a given time t :type t: float :param t: [in] \(t\in[0,\tau_1+\tau_2]\) :rtype: rw::math::Transform3D< double > :return: Acceleration at time t

deref()

The pointer stored in the object.

dx(t)

The velocity for a given time t :type t: float :param t: [in] \(t\in[0,\tau_1+\tau_2]\) :rtype: rw::math::Transform3D< double > :return: Velocity at time t

getDeref()

Member access operator.

isNull()

checks if the pointer is null :rtype: boolean :return: Returns true if the pointer is null

isShared()

check if this Ptr has shared ownership or none ownership :rtype: boolean :return: true if Ptr has shared ownership, false if it has no ownership.

tau1()

The time \(\tau_1\) as defined in class definition :rtype: float :return: \(\tau_1\)

tau2()

The time \(\tau_2\) as defined in class definition :rtype: float :return: \(\tau_2\)

property thisown

The membership flag

x(t)

The position for a given time t :type t: float :param t: [in] \(t\in[0,\tau_1+\tau_2]\) :rtype: rw::math::Transform3D< double > :return: Position at time t

class sdurw_trajectory.sdurw_trajectory.BlendTransform3DPtr(*args)

Bases: object

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

__init__(*args)

Overload 1:

Default constructor yielding a NULL-pointer.

Overload 2:

Do not take ownership of ptr.

ptr can be null.

The constructor is implicit on purpose.

cptr()

ddx(t)

The acceleration for a given time t :type t: float :param t: [in] \(t\in[0,\tau_1+\tau_2]\) :rtype: rw::math::Transform3D< double > :return: Acceleration at time t

deref()

The pointer stored in the object.

dx(t)

The velocity for a given time t :type t: float :param t: [in] \(t\in[0,\tau_1+\tau_2]\) :rtype: rw::math::Transform3D< double > :return: Velocity at time t

getDeref()

Member access operator.

isNull()

checks if the pointer is null :rtype: boolean :return: Returns true if the pointer is null

isShared()

check if this Ptr has shared ownership or none ownership :rtype: boolean :return: true if Ptr has shared ownership, false if it has no ownership.

tau1()

The time \(\tau_1\) as defined in class definition :rtype: float :return: \(\tau_1\)

tau2()

The time \(\tau_2\) as defined in class definition :rtype: float :return: \(\tau_2\)

property thisown

The membership flag

x(t)

The position for a given time t :type t: float :param t: [in] \(t\in[0,\tau_1+\tau_2]\) :rtype: rw::math::Transform3D< double > :return: Position at time t

class sdurw_trajectory.sdurw_trajectory.BlendTransform3D_f(*args, **kwargs)

Bases: object

Interface for blending

A Blend describes a way to blend between to consecutive interpolators. If we let \(t_1\) be the time switching from one interpolator to the next, then the blend control the path in the interval \([t_1-\tau_1;t_1+\tau_2]\).

See the specific implementations for at description of which template arguments that are valid.

__init__(*args, **kwargs)

ddx(t)

The acceleration for a given time t :type t: float :param t: [in] \(t\in[0,\tau_1+\tau_2]\) :rtype: rw::math::Transform3D< float > :return: Acceleration at time t

dx(t)

The velocity for a given time t :type t: float :param t: [in] \(t\in[0,\tau_1+\tau_2]\) :rtype: rw::math::Transform3D< float > :return: Velocity at time t

tau1()

The time \(\tau_1\) as defined in class definition :rtype: float :return: \(\tau_1\)

tau2()

The time \(\tau_2\) as defined in class definition :rtype: float :return: \(\tau_2\)

property thisown

The membership flag

x(t)

The position for a given time t :type t: float :param t: [in] \(t\in[0,\tau_1+\tau_2]\) :rtype: rw::math::Transform3D< float > :return: Position at time t

class sdurw_trajectory.sdurw_trajectory.BlendTransform3D_fCPtr(*args)

Bases: object

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

__init__(*args)

Overload 1:

Default constructor yielding a NULL-pointer.

Overload 2:

Do not take ownership of ptr.

ptr can be null.

The constructor is implicit on purpose.

ddx(t)

The acceleration for a given time t :type t: float :param t: [in] \(t\in[0,\tau_1+\tau_2]\) :rtype: rw::math::Transform3D< float > :return: Acceleration at time t

deref()

The pointer stored in the object.

dx(t)

The velocity for a given time t :type t: float :param t: [in] \(t\in[0,\tau_1+\tau_2]\) :rtype: rw::math::Transform3D< float > :return: Velocity at time t

getDeref()

Member access operator.

isNull()

checks if the pointer is null :rtype: boolean :return: Returns true if the pointer is null

isShared()

check if this Ptr has shared ownership or none ownership :rtype: boolean :return: true if Ptr has shared ownership, false if it has no ownership.

tau1()

The time \(\tau_1\) as defined in class definition :rtype: float :return: \(\tau_1\)

tau2()

The time \(\tau_2\) as defined in class definition :rtype: float :return: \(\tau_2\)

property thisown

The membership flag

x(t)

The position for a given time t :type t: float :param t: [in] \(t\in[0,\tau_1+\tau_2]\) :rtype: rw::math::Transform3D< float > :return: Position at time t

class sdurw_trajectory.sdurw_trajectory.BlendTransform3D_fPtr(*args)

Bases: object

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

__init__(*args)

Overload 1:

Default constructor yielding a NULL-pointer.

Overload 2:

Do not take ownership of ptr.

ptr can be null.

The constructor is implicit on purpose.

cptr()

ddx(t)

The acceleration for a given time t :type t: float :param t: [in] \(t\in[0,\tau_1+\tau_2]\) :rtype: rw::math::Transform3D< float > :return: Acceleration at time t

deref()

The pointer stored in the object.

dx(t)

The velocity for a given time t :type t: float :param t: [in] \(t\in[0,\tau_1+\tau_2]\) :rtype: rw::math::Transform3D< float > :return: Velocity at time t

getDeref()

Member access operator.

isNull()

checks if the pointer is null :rtype: boolean :return: Returns true if the pointer is null

isShared()

check if this Ptr has shared ownership or none ownership :rtype: boolean :return: true if Ptr has shared ownership, false if it has no ownership.

tau1()

The time \(\tau_1\) as defined in class definition :rtype: float :return: \(\tau_1\)

tau2()

The time \(\tau_2\) as defined in class definition :rtype: float :return: \(\tau_2\)

property thisown

The membership flag

x(t)

The position for a given time t :type t: float :param t: [in] \(t\in[0,\tau_1+\tau_2]\) :rtype: rw::math::Transform3D< float > :return: Position at time t

class sdurw_trajectory.sdurw_trajectory.BlendVector2D(*args, **kwargs)

Bases: object

Interface for blending

A Blend describes a way to blend between to consecutive interpolators. If we let \(t_1\) be the time switching from one interpolator to the next, then the blend control the path in the interval \([t_1-\tau_1;t_1+\tau_2]\).

See the specific implementations for at description of which template arguments that are valid.

__init__(*args, **kwargs)

ddx(t)

The acceleration for a given time t :type t: float :param t: [in] \(t\in[0,\tau_1+\tau_2]\) :rtype: rw::math::Vector2D< double > :return: Acceleration at time t

dx(t)

The velocity for a given time t :type t: float :param t: [in] \(t\in[0,\tau_1+\tau_2]\) :rtype: rw::math::Vector2D< double > :return: Velocity at time t

tau1()

The time \(\tau_1\) as defined in class definition :rtype: float :return: \(\tau_1\)

tau2()

The time \(\tau_2\) as defined in class definition :rtype: float :return: \(\tau_2\)

property thisown

The membership flag

x(t)

The position for a given time t :type t: float :param t: [in] \(t\in[0,\tau_1+\tau_2]\) :rtype: rw::math::Vector2D< double > :return: Position at time t

class sdurw_trajectory.sdurw_trajectory.BlendVector2DCPtr(*args)

Bases: object

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

__init__(*args)

Overload 1:

Default constructor yielding a NULL-pointer.

Overload 2:

Do not take ownership of ptr.

ptr can be null.

The constructor is implicit on purpose.

ddx(t)

The acceleration for a given time t :type t: float :param t: [in] \(t\in[0,\tau_1+\tau_2]\) :rtype: rw::math::Vector2D< double > :return: Acceleration at time t

deref()

The pointer stored in the object.

dx(t)

The velocity for a given time t :type t: float :param t: [in] \(t\in[0,\tau_1+\tau_2]\) :rtype: rw::math::Vector2D< double > :return: Velocity at time t

getDeref()

Member access operator.

isNull()

checks if the pointer is null :rtype: boolean :return: Returns true if the pointer is null

isShared()

check if this Ptr has shared ownership or none ownership :rtype: boolean :return: true if Ptr has shared ownership, false if it has no ownership.

tau1()

The time \(\tau_1\) as defined in class definition :rtype: float :return: \(\tau_1\)

tau2()

The time \(\tau_2\) as defined in class definition :rtype: float :return: \(\tau_2\)

property thisown

The membership flag

x(t)

The position for a given time t :type t: float :param t: [in] \(t\in[0,\tau_1+\tau_2]\) :rtype: rw::math::Vector2D< double > :return: Position at time t

class sdurw_trajectory.sdurw_trajectory.BlendVector2DPtr(*args)

Bases: object

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

__init__(*args)

Overload 1:

Default constructor yielding a NULL-pointer.

Overload 2:

Do not take ownership of ptr.

ptr can be null.

The constructor is implicit on purpose.

cptr()

ddx(t)

The acceleration for a given time t :type t: float :param t: [in] \(t\in[0,\tau_1+\tau_2]\) :rtype: rw::math::Vector2D< double > :return: Acceleration at time t

deref()

The pointer stored in the object.

dx(t)

The velocity for a given time t :type t: float :param t: [in] \(t\in[0,\tau_1+\tau_2]\) :rtype: rw::math::Vector2D< double > :return: Velocity at time t

getDeref()

Member access operator.

isNull()

checks if the pointer is null :rtype: boolean :return: Returns true if the pointer is null

isShared()

check if this Ptr has shared ownership or none ownership :rtype: boolean :return: true if Ptr has shared ownership, false if it has no ownership.

tau1()

The time \(\tau_1\) as defined in class definition :rtype: float :return: \(\tau_1\)

tau2()

The time \(\tau_2\) as defined in class definition :rtype: float :return: \(\tau_2\)

property thisown

The membership flag

x(t)

The position for a given time t :type t: float :param t: [in] \(t\in[0,\tau_1+\tau_2]\) :rtype: rw::math::Vector2D< double > :return: Position at time t

class sdurw_trajectory.sdurw_trajectory.BlendVector2D_f(*args, **kwargs)

Bases: object

Interface for blending

A Blend describes a way to blend between to consecutive interpolators. If we let \(t_1\) be the time switching from one interpolator to the next, then the blend control the path in the interval \([t_1-\tau_1;t_1+\tau_2]\).

See the specific implementations for at description of which template arguments that are valid.

__init__(*args, **kwargs)

ddx(t)

The acceleration for a given time t :type t: float :param t: [in] \(t\in[0,\tau_1+\tau_2]\) :rtype: rw::math::Vector2D< float > :return: Acceleration at time t

dx(t)

The velocity for a given time t :type t: float :param t: [in] \(t\in[0,\tau_1+\tau_2]\) :rtype: rw::math::Vector2D< float > :return: Velocity at time t

tau1()

The time \(\tau_1\) as defined in class definition :rtype: float :return: \(\tau_1\)

tau2()

The time \(\tau_2\) as defined in class definition :rtype: float :return: \(\tau_2\)

property thisown

The membership flag

x(t)

The position for a given time t :type t: float :param t: [in] \(t\in[0,\tau_1+\tau_2]\) :rtype: rw::math::Vector2D< float > :return: Position at time t

class sdurw_trajectory.sdurw_trajectory.BlendVector2D_fCPtr(*args)

Bases: object

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

__init__(*args)

Overload 1:

Default constructor yielding a NULL-pointer.

Overload 2:

Do not take ownership of ptr.

ptr can be null.

The constructor is implicit on purpose.

ddx(t)

The acceleration for a given time t :type t: float :param t: [in] \(t\in[0,\tau_1+\tau_2]\) :rtype: rw::math::Vector2D< float > :return: Acceleration at time t

deref()

The pointer stored in the object.

dx(t)

The velocity for a given time t :type t: float :param t: [in] \(t\in[0,\tau_1+\tau_2]\) :rtype: rw::math::Vector2D< float > :return: Velocity at time t

getDeref()

Member access operator.

isNull()

checks if the pointer is null :rtype: boolean :return: Returns true if the pointer is null

isShared()

check if this Ptr has shared ownership or none ownership :rtype: boolean :return: true if Ptr has shared ownership, false if it has no ownership.

tau1()

The time \(\tau_1\) as defined in class definition :rtype: float :return: \(\tau_1\)

tau2()

The time \(\tau_2\) as defined in class definition :rtype: float :return: \(\tau_2\)

property thisown

The membership flag

x(t)

The position for a given time t :type t: float :param t: [in] \(t\in[0,\tau_1+\tau_2]\) :rtype: rw::math::Vector2D< float > :return: Position at time t

class sdurw_trajectory.sdurw_trajectory.BlendVector2D_fPtr(*args)

Bases: object

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

__init__(*args)

Overload 1:

Default constructor yielding a NULL-pointer.

Overload 2:

Do not take ownership of ptr.

ptr can be null.

The constructor is implicit on purpose.

cptr()

ddx(t)

The acceleration for a given time t :type t: float :param t: [in] \(t\in[0,\tau_1+\tau_2]\) :rtype: rw::math::Vector2D< float > :return: Acceleration at time t

deref()

The pointer stored in the object.

dx(t)

The velocity for a given time t :type t: float :param t: [in] \(t\in[0,\tau_1+\tau_2]\) :rtype: rw::math::Vector2D< float > :return: Velocity at time t

getDeref()

Member access operator.

isNull()

checks if the pointer is null :rtype: boolean :return: Returns true if the pointer is null

isShared()

check if this Ptr has shared ownership or none ownership :rtype: boolean :return: true if Ptr has shared ownership, false if it has no ownership.

tau1()

The time \(\tau_1\) as defined in class definition :rtype: float :return: \(\tau_1\)

tau2()

The time \(\tau_2\) as defined in class definition :rtype: float :return: \(\tau_2\)

property thisown

The membership flag

x(t)

The position for a given time t :type t: float :param t: [in] \(t\in[0,\tau_1+\tau_2]\) :rtype: rw::math::Vector2D< float > :return: Position at time t

class sdurw_trajectory.sdurw_trajectory.BlendVector3D(*args, **kwargs)

Bases: object

Interface for blending

A Blend describes a way to blend between to consecutive interpolators. If we let \(t_1\) be the time switching from one interpolator to the next, then the blend control the path in the interval \([t_1-\tau_1;t_1+\tau_2]\).

See the specific implementations for at description of which template arguments that are valid.

__init__(*args, **kwargs)

ddx(t)

The acceleration for a given time t :type t: float :param t: [in] \(t\in[0,\tau_1+\tau_2]\) :rtype: rw::math::Vector3D< double > :return: Acceleration at time t

dx(t)

The velocity for a given time t :type t: float :param t: [in] \(t\in[0,\tau_1+\tau_2]\) :rtype: rw::math::Vector3D< double > :return: Velocity at time t

tau1()

The time \(\tau_1\) as defined in class definition :rtype: float :return: \(\tau_1\)

tau2()

The time \(\tau_2\) as defined in class definition :rtype: float :return: \(\tau_2\)

property thisown

The membership flag

x(t)

The position for a given time t :type t: float :param t: [in] \(t\in[0,\tau_1+\tau_2]\) :rtype: rw::math::Vector3D< double > :return: Position at time t

class sdurw_trajectory.sdurw_trajectory.BlendVector3DCPtr(*args)

Bases: object

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

__init__(*args)

Overload 1:

Default constructor yielding a NULL-pointer.

Overload 2:

Do not take ownership of ptr.

ptr can be null.

The constructor is implicit on purpose.

ddx(t)

The acceleration for a given time t :type t: float :param t: [in] \(t\in[0,\tau_1+\tau_2]\) :rtype: rw::math::Vector3D< double > :return: Acceleration at time t

deref()

The pointer stored in the object.

dx(t)

The velocity for a given time t :type t: float :param t: [in] \(t\in[0,\tau_1+\tau_2]\) :rtype: rw::math::Vector3D< double > :return: Velocity at time t

getDeref()

Member access operator.

isNull()

checks if the pointer is null :rtype: boolean :return: Returns true if the pointer is null

isShared()

check if this Ptr has shared ownership or none ownership :rtype: boolean :return: true if Ptr has shared ownership, false if it has no ownership.

tau1()

The time \(\tau_1\) as defined in class definition :rtype: float :return: \(\tau_1\)

tau2()

The time \(\tau_2\) as defined in class definition :rtype: float :return: \(\tau_2\)

property thisown

The membership flag

x(t)

The position for a given time t :type t: float :param t: [in] \(t\in[0,\tau_1+\tau_2]\) :rtype: rw::math::Vector3D< double > :return: Position at time t

class sdurw_trajectory.sdurw_trajectory.BlendVector3DPtr(*args)

Bases: object

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

__init__(*args)

Overload 1:

Default constructor yielding a NULL-pointer.

Overload 2:

Do not take ownership of ptr.

ptr can be null.

The constructor is implicit on purpose.

cptr()

ddx(t)

The acceleration for a given time t :type t: float :param t: [in] \(t\in[0,\tau_1+\tau_2]\) :rtype: rw::math::Vector3D< double > :return: Acceleration at time t

deref()

The pointer stored in the object.

dx(t)

The velocity for a given time t :type t: float :param t: [in] \(t\in[0,\tau_1+\tau_2]\) :rtype: rw::math::Vector3D< double > :return: Velocity at time t

getDeref()

Member access operator.

isNull()

checks if the pointer is null :rtype: boolean :return: Returns true if the pointer is null

isShared()

check if this Ptr has shared ownership or none ownership :rtype: boolean :return: true if Ptr has shared ownership, false if it has no ownership.

tau1()

The time \(\tau_1\) as defined in class definition :rtype: float :return: \(\tau_1\)

tau2()

The time \(\tau_2\) as defined in class definition :rtype: float :return: \(\tau_2\)

property thisown

The membership flag

x(t)

The position for a given time t :type t: float :param t: [in] \(t\in[0,\tau_1+\tau_2]\) :rtype: rw::math::Vector3D< double > :return: Position at time t

class sdurw_trajectory.sdurw_trajectory.BlendVector3D_f(*args, **kwargs)

Bases: object

Interface for blending

A Blend describes a way to blend between to consecutive interpolators. If we let \(t_1\) be the time switching from one interpolator to the next, then the blend control the path in the interval \([t_1-\tau_1;t_1+\tau_2]\).

See the specific implementations for at description of which template arguments that are valid.

__init__(*args, **kwargs)

ddx(t)

The acceleration for a given time t :type t: float :param t: [in] \(t\in[0,\tau_1+\tau_2]\) :rtype: rw::math::Vector3D< float > :return: Acceleration at time t

dx(t)

The velocity for a given time t :type t: float :param t: [in] \(t\in[0,\tau_1+\tau_2]\) :rtype: rw::math::Vector3D< float > :return: Velocity at time t

tau1()

The time \(\tau_1\) as defined in class definition :rtype: float :return: \(\tau_1\)

tau2()

The time \(\tau_2\) as defined in class definition :rtype: float :return: \(\tau_2\)

property thisown

The membership flag

x(t)

The position for a given time t :type t: float :param t: [in] \(t\in[0,\tau_1+\tau_2]\) :rtype: rw::math::Vector3D< float > :return: Position at time t

class sdurw_trajectory.sdurw_trajectory.BlendVector3D_fCPtr(*args)

Bases: object

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

__init__(*args)

Overload 1:

Default constructor yielding a NULL-pointer.

Overload 2:

Do not take ownership of ptr.

ptr can be null.

The constructor is implicit on purpose.

ddx(t)

The acceleration for a given time t :type t: float :param t: [in] \(t\in[0,\tau_1+\tau_2]\) :rtype: rw::math::Vector3D< float > :return: Acceleration at time t

deref()

The pointer stored in the object.

dx(t)

The velocity for a given time t :type t: float :param t: [in] \(t\in[0,\tau_1+\tau_2]\) :rtype: rw::math::Vector3D< float > :return: Velocity at time t

getDeref()

Member access operator.

isNull()

checks if the pointer is null :rtype: boolean :return: Returns true if the pointer is null

isShared()

check if this Ptr has shared ownership or none ownership :rtype: boolean :return: true if Ptr has shared ownership, false if it has no ownership.

tau1()

The time \(\tau_1\) as defined in class definition :rtype: float :return: \(\tau_1\)

tau2()

The time \(\tau_2\) as defined in class definition :rtype: float :return: \(\tau_2\)

property thisown

The membership flag

x(t)

The position for a given time t :type t: float :param t: [in] \(t\in[0,\tau_1+\tau_2]\) :rtype: rw::math::Vector3D< float > :return: Position at time t

class sdurw_trajectory.sdurw_trajectory.BlendVector3D_fPtr(*args)

Bases: object

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

__init__(*args)

Overload 1:

Default constructor yielding a NULL-pointer.

Overload 2:

Do not take ownership of ptr.

ptr can be null.

The constructor is implicit on purpose.

cptr()

ddx(t)

The acceleration for a given time t :type t: float :param t: [in] \(t\in[0,\tau_1+\tau_2]\) :rtype: rw::math::Vector3D< float > :return: Acceleration at time t

deref()

The pointer stored in the object.

dx(t)

The velocity for a given time t :type t: float :param t: [in] \(t\in[0,\tau_1+\tau_2]\) :rtype: rw::math::Vector3D< float > :return: Velocity at time t

getDeref()

Member access operator.

isNull()

checks if the pointer is null :rtype: boolean :return: Returns true if the pointer is null

isShared()

check if this Ptr has shared ownership or none ownership :rtype: boolean :return: true if Ptr has shared ownership, false if it has no ownership.

tau1()

The time \(\tau_1\) as defined in class definition :rtype: float :return: \(\tau_1\)

tau2()

The time \(\tau_2\) as defined in class definition :rtype: float :return: \(\tau_2\)

property thisown

The membership flag

x(t)

The position for a given time t :type t: float :param t: [in] \(t\in[0,\tau_1+\tau_2]\) :rtype: rw::math::Vector3D< float > :return: Position at time t

class sdurw_trajectory.sdurw_trajectory.Blend_d(*args, **kwargs)

Bases: object

Interface for blending

A Blend describes a way to blend between to consecutive interpolators. If we let \(t_1\) be the time switching from one interpolator to the next, then the blend control the path in the interval \([t_1-\tau_1;t_1+\tau_2]\).

See the specific implementations for at description of which template arguments that are valid.

__init__(*args, **kwargs)

ddx(t)

The acceleration for a given time t :type t: float :param t: [in] \(t\in[0,\tau_1+\tau_2]\) :rtype: float :return: Acceleration at time t

dx(t)

The velocity for a given time t :type t: float :param t: [in] \(t\in[0,\tau_1+\tau_2]\) :rtype: float :return: Velocity at time t

tau1()

The time \(\tau_1\) as defined in class definition :rtype: float :return: \(\tau_1\)

tau2()

The time \(\tau_2\) as defined in class definition :rtype: float :return: \(\tau_2\)

property thisown

The membership flag

x(t)

The position for a given time t :type t: float :param t: [in] \(t\in[0,\tau_1+\tau_2]\) :rtype: float :return: Position at time t

class sdurw_trajectory.sdurw_trajectory.Blend_dCPtr(*args)

Bases: object

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

__init__(*args)

Overload 1:

Default constructor yielding a NULL-pointer.

Overload 2:

Do not take ownership of ptr.

ptr can be null.

The constructor is implicit on purpose.

ddx(t)

The acceleration for a given time t :type t: float :param t: [in] \(t\in[0,\tau_1+\tau_2]\) :rtype: float :return: Acceleration at time t

deref()

The pointer stored in the object.

dx(t)

The velocity for a given time t :type t: float :param t: [in] \(t\in[0,\tau_1+\tau_2]\) :rtype: float :return: Velocity at time t

getDeref()

Member access operator.

isNull()

checks if the pointer is null :rtype: boolean :return: Returns true if the pointer is null

isShared()

check if this Ptr has shared ownership or none ownership :rtype: boolean :return: true if Ptr has shared ownership, false if it has no ownership.

tau1()

The time \(\tau_1\) as defined in class definition :rtype: float :return: \(\tau_1\)

tau2()

The time \(\tau_2\) as defined in class definition :rtype: float :return: \(\tau_2\)

property thisown

The membership flag

x(t)

The position for a given time t :type t: float :param t: [in] \(t\in[0,\tau_1+\tau_2]\) :rtype: float :return: Position at time t

class sdurw_trajectory.sdurw_trajectory.Blend_dPtr(*args)

Bases: object

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

__init__(*args)

Overload 1:

Default constructor yielding a NULL-pointer.

Overload 2:

Do not take ownership of ptr.

ptr can be null.

The constructor is implicit on purpose.

cptr()

ddx(t)

The acceleration for a given time t :type t: float :param t: [in] \(t\in[0,\tau_1+\tau_2]\) :rtype: float :return: Acceleration at time t

deref()

The pointer stored in the object.

dx(t)

The velocity for a given time t :type t: float :param t: [in] \(t\in[0,\tau_1+\tau_2]\) :rtype: float :return: Velocity at time t

getDeref()

Member access operator.

isNull()

checks if the pointer is null :rtype: boolean :return: Returns true if the pointer is null

isShared()

check if this Ptr has shared ownership or none ownership :rtype: boolean :return: true if Ptr has shared ownership, false if it has no ownership.

tau1()

The time \(\tau_1\) as defined in class definition :rtype: float :return: \(\tau_1\)

tau2()

The time \(\tau_2\) as defined in class definition :rtype: float :return: \(\tau_2\)

property thisown

The membership flag

x(t)

The position for a given time t :type t: float :param t: [in] \(t\in[0,\tau_1+\tau_2]\) :rtype: float :return: Position at time t

class sdurw_trajectory.sdurw_trajectory.Blend_d_f(*args, **kwargs)

Bases: object

Interface for blending

A Blend describes a way to blend between to consecutive interpolators. If we let \(t_1\) be the time switching from one interpolator to the next, then the blend control the path in the interval \([t_1-\tau_1;t_1+\tau_2]\).

See the specific implementations for at description of which template arguments that are valid.

__init__(*args, **kwargs)

ddx(t)

The acceleration for a given time t :type t: float :param t: [in] \(t\in[0,\tau_1+\tau_2]\) :rtype: float :return: Acceleration at time t

dx(t)

The velocity for a given time t :type t: float :param t: [in] \(t\in[0,\tau_1+\tau_2]\) :rtype: float :return: Velocity at time t

tau1()

The time \(\tau_1\) as defined in class definition :rtype: float :return: \(\tau_1\)

tau2()

The time \(\tau_2\) as defined in class definition :rtype: float :return: \(\tau_2\)

property thisown

The membership flag

x(t)

The position for a given time t :type t: float :param t: [in] \(t\in[0,\tau_1+\tau_2]\) :rtype: float :return: Position at time t

class sdurw_trajectory.sdurw_trajectory.Blend_d_fCPtr(*args)

Bases: object

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

__init__(*args)

Overload 1:

Default constructor yielding a NULL-pointer.

Overload 2:

Do not take ownership of ptr.

ptr can be null.

The constructor is implicit on purpose.

ddx(t)

The acceleration for a given time t :type t: float :param t: [in] \(t\in[0,\tau_1+\tau_2]\) :rtype: float :return: Acceleration at time t

deref()

The pointer stored in the object.

dx(t)

The velocity for a given time t :type t: float :param t: [in] \(t\in[0,\tau_1+\tau_2]\) :rtype: float :return: Velocity at time t

getDeref()

Member access operator.

isNull()

checks if the pointer is null :rtype: boolean :return: Returns true if the pointer is null

isShared()

check if this Ptr has shared ownership or none ownership :rtype: boolean :return: true if Ptr has shared ownership, false if it has no ownership.

tau1()

The time \(\tau_1\) as defined in class definition :rtype: float :return: \(\tau_1\)

tau2()

The time \(\tau_2\) as defined in class definition :rtype: float :return: \(\tau_2\)

property thisown

The membership flag

x(t)

The position for a given time t :type t: float :param t: [in] \(t\in[0,\tau_1+\tau_2]\) :rtype: float :return: Position at time t

class sdurw_trajectory.sdurw_trajectory.Blend_d_fPtr(*args)

Bases: object

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

__init__(*args)

Overload 1:

Default constructor yielding a NULL-pointer.

Overload 2:

Do not take ownership of ptr.

ptr can be null.

The constructor is implicit on purpose.

cptr()

ddx(t)

The acceleration for a given time t :type t: float :param t: [in] \(t\in[0,\tau_1+\tau_2]\) :rtype: float :return: Acceleration at time t

deref()

The pointer stored in the object.

dx(t)

The velocity for a given time t :type t: float :param t: [in] \(t\in[0,\tau_1+\tau_2]\) :rtype: float :return: Velocity at time t

getDeref()

Member access operator.

isNull()

checks if the pointer is null :rtype: boolean :return: Returns true if the pointer is null

isShared()

check if this Ptr has shared ownership or none ownership :rtype: boolean :return: true if Ptr has shared ownership, false if it has no ownership.

tau1()

The time \(\tau_1\) as defined in class definition :rtype: float :return: \(\tau_1\)

tau2()

The time \(\tau_2\) as defined in class definition :rtype: float :return: \(\tau_2\)

property thisown

The membership flag

x(t)

The position for a given time t :type t: float :param t: [in] \(t\in[0,\tau_1+\tau_2]\) :rtype: float :return: Position at time t

class sdurw_trajectory.sdurw_trajectory.CircularInterpolatorVector3D(*args, **kwargs)

Bases: InterpolatorVector3D

Circular interpolator

See the specific template specializations

__init__(*args, **kwargs)

getP1()

getP2()

getP3()

property thisown

The membership flag

class sdurw_trajectory.sdurw_trajectory.CircularInterpolatorVector3D_f(*args, **kwargs)

Bases: InterpolatorVector3D_f

Circular interpolator

See the specific template specializations

__init__(*args, **kwargs)

getP1()

getP2()

getP3()

property thisown

The membership flag

class sdurw_trajectory.sdurw_trajectory.CubicSplineFactory(*args, **kwargs)

Bases: object

Factory for creating cubic splines

__init__(*args, **kwargs)

static makeClampedSpline(*args)

Overload 1:

creates a clamped spline trajectory with equally spaced via points. That is time between samples is 1. A clamped spline controls the velocity in the end points. The acceleration is 0 in the end points. :type qpath: rw::core::Ptr< rw::trajectory::Path< rw::math::Q > > :param qpath: [in] the path over which the spline should be generated. :type dqStart: Q :param dqStart: [in] the velocity in the first point :type dqEnd: Q :param dqEnd: [in] the velocity in the last point. :type timeStep: float, optional :param timeStep: documentation missing ! :rtype: rw::core::Ptr< rw::trajectory::InterpolatorTrajectory< rw::math::Q > > :return: a trajectory of CubicSplineInterpolators Notes: the following template parameters are currently supported: Transform3DVector, Vector3D, Quaternion

Overload 2:

creates a clamped spline trajectory where the timed label is used to determine the time between samples. A clamped spline controls the velocity in the end points. The acceleration is 0 in the end points. :type tqpath: rw::core::Ptr< rw::trajectory::Path< rw::trajectory::Timed< rw::math::Q > > > :param tqpath: [in] the path over which the spline should be generated. :type dqStart: Q :param dqStart: [in] the velocity in the first point :type dqEnd: Q :param dqEnd: [in] the velocity in the last point. :rtype: rw::core::Ptr< rw::trajectory::InterpolatorTrajectory< rw::math::Q > > :return: a trajectory of CubicSplineInterpolators Notes: the following template parameters are currently supported: Transform3DVector, Vector3D, Quaternion

Overload 3:

creates a clamped spline trajectory with equally spaced via points. That is time between samples is 1. A clamped spline controls the velocity in the end points. The acceleration is 0 in the end points. :type path: rw::trajectory::Path< rw::math::Vector3D< double > > :param path: [in] the path over which the spline should be generated. :type dStart: rw::math::Vector3D< double > :param dStart: [in] the velocity in the first point :type dEnd: rw::math::Vector3D< double > :param dEnd: [in] the velocity in the last point. :type timeStep: float, optional :param timeStep: documentation missing ! :rtype: rw::core::Ptr< rw::trajectory::InterpolatorTrajectory< rw::math::Vector3D< double > > > :return: a trajectory of CubicSplineInterpolators Notes: the following template parameters are currently supported: Transform3DVector, Vector3D, Quaternion

Overload 4:

creates a clamped spline trajectory with equally spaced via points. That is time between samples is 1. A clamped spline controls the velocity in the end points. The acceleration is 0 in the end points. :type path: rw::trajectory::Path< rw::math::Vector3D< double > > :param path: [in] the path over which the spline should be generated. :type dStart: rw::math::Vector3D< double > :param dStart: [in] the velocity in the first point :type dEnd: rw::math::Vector3D< double > :param dEnd: [in] the velocity in the last point. :param timeStep: documentation missing ! :rtype: rw::core::Ptr< rw::trajectory::InterpolatorTrajectory< rw::math::Vector3D< double > > > :return: a trajectory of CubicSplineInterpolators Notes: the following template parameters are currently supported: Transform3DVector, Vector3D, Quaternion

Overload 5:

creates a clamped spline trajectory where the timed label is used to determine the time between samples. A clamped spline controls the velocity in the end points. The acceleration is 0 in the end points. :type tpath: rw::trajectory::Path< rw::trajectory::Timed< rw::math::Vector3D< double > > > :param tpath: [in] the path over which the spline should be generated. :type dStart: rw::math::Vector3D< double > :param dStart: [in] the velocity in the first point :type dEnd: rw::math::Vector3D< double > :param dEnd: [in] the velocity in the last point. :rtype: rw::core::Ptr< rw::trajectory::InterpolatorTrajectory< rw::math::Vector3D< double > > > :return: a trajectory of CubicSplineInterpolators Notes: the following template parameters are currently supported: Transform3DVector, Vector3D, Quaternion

Overload 6:

creates a clamped spline trajectory where the timed label is used to determine the time between samples. A clamped spline controls the velocity in the end points. The acceleration is 0 in the end points. :type path: rw::trajectory::Path< rw::math::Vector3D< double > > :param path: [in] the path over which the spline should be generated. :type times: std::vector< double > :param times: [in] the times associated to the configurations in path. :type dStart: rw::math::Vector3D< double > :param dStart: [in] the velocity in the first point :type dEnd: rw::math::Vector3D< double > :param dEnd: [in] the velocity in the last point. :rtype: rw::core::Ptr< rw::trajectory::InterpolatorTrajectory< rw::math::Vector3D< double > > > :return: a trajectory of CubicSplineInterpolators Notes: the following template parameters are currently supported: Transform3DVector, Vector3D, Quaternion

Overload 7:

creates a clamped spline trajectory with equally spaced via points. That is time between samples is 1. A clamped spline controls the velocity in the end points. The acceleration is 0 in the end points. :type path: rw::trajectory::Path< rw::math::Transform3DVector< double > > :param path: [in] the path over which the spline should be generated. :type dStart: rw::math::Transform3DVector< double > :param dStart: [in] the velocity in the first point :type dEnd: rw::math::Transform3DVector< double > :param dEnd: [in] the velocity in the last point. :type timeStep: float, optional :param timeStep: documentation missing ! :rtype: rw::core::Ptr< rw::trajectory::InterpolatorTrajectory< rw::math::Transform3DVector< double > > > :return: a trajectory of CubicSplineInterpolators Notes: the following template parameters are currently supported: Transform3DVector, Vector3D, Quaternion

Overload 8:

creates a clamped spline trajectory with equally spaced via points. That is time between samples is 1. A clamped spline controls the velocity in the end points. The acceleration is 0 in the end points. :type path: rw::trajectory::Path< rw::math::Transform3DVector< double > > :param path: [in] the path over which the spline should be generated. :type dStart: rw::math::Transform3DVector< double > :param dStart: [in] the velocity in the first point :type dEnd: rw::math::Transform3DVector< double > :param dEnd: [in] the velocity in the last point. :param timeStep: documentation missing ! :rtype: rw::core::Ptr< rw::trajectory::InterpolatorTrajectory< rw::math::Transform3DVector< double > > > :return: a trajectory of CubicSplineInterpolators Notes: the following template parameters are currently supported: Transform3DVector, Vector3D, Quaternion

Overload 9:

creates a clamped spline trajectory where the timed label is used to determine the time between samples. A clamped spline controls the velocity in the end points. The acceleration is 0 in the end points. :type tpath: rw::trajectory::Path< rw::trajectory::Timed< rw::math::Transform3DVector< double > > > :param tpath: [in] the path over which the spline should be generated. :type dStart: rw::math::Transform3DVector< double > :param dStart: [in] the velocity in the first point :type dEnd: rw::math::Transform3DVector< double > :param dEnd: [in] the velocity in the last point. :rtype: rw::core::Ptr< rw::trajectory::InterpolatorTrajectory< rw::math::Transform3DVector< double > > > :return: a trajectory of CubicSplineInterpolators Notes: the following template parameters are currently supported: Transform3DVector, Vector3D, Quaternion

Overload 10:

creates a clamped spline trajectory where the timed label is used to determine the time between samples. A clamped spline controls the velocity in the end points. The acceleration is 0 in the end points. :type path: rw::trajectory::Path< rw::math::Transform3DVector< double > > :param path: [in] the path over which the spline should be generated. :type times: std::vector< double > :param times: [in] the times associated to the configurations in path. :type dStart: rw::math::Transform3DVector< double > :param dStart: [in] the velocity in the first point :type dEnd: rw::math::Transform3DVector< double > :param dEnd: [in] the velocity in the last point. :rtype: rw::core::Ptr< rw::trajectory::InterpolatorTrajectory< rw::math::Transform3DVector< double > > > :return: a trajectory of CubicSplineInterpolators Notes: the following template parameters are currently supported: Transform3DVector, Vector3D, Quaternion

Overload 11:

creates a clamped spline trajectory with equally spaced via points. That is time between samples is 1. A clamped spline controls the velocity in the end points. The acceleration is 0 in the end points. :type path: rw::trajectory::Path< rw::math::Q > :param path: [in] the path over which the spline should be generated. :type dStart: Q :param dStart: [in] the velocity in the first point :type dEnd: Q :param dEnd: [in] the velocity in the last point. :type timeStep: float, optional :param timeStep: documentation missing ! :rtype: rw::core::Ptr< rw::trajectory::InterpolatorTrajectory< rw::math::Q > > :return: a trajectory of CubicSplineInterpolators Notes: the following template parameters are currently supported: Transform3DVector, Vector3D, Quaternion

Overload 12:

creates a clamped spline trajectory with equally spaced via points. That is time between samples is 1. A clamped spline controls the velocity in the end points. The acceleration is 0 in the end points. :type path: rw::trajectory::Path< rw::math::Q > :param path: [in] the path over which the spline should be generated. :type dStart: Q :param dStart: [in] the velocity in the first point :type dEnd: Q :param dEnd: [in] the velocity in the last point. :param timeStep: documentation missing ! :rtype: rw::core::Ptr< rw::trajectory::InterpolatorTrajectory< rw::math::Q > > :return: a trajectory of CubicSplineInterpolators Notes: the following template parameters are currently supported: Transform3DVector, Vector3D, Quaternion

Overload 13:

creates a clamped spline trajectory where the timed label is used to determine the time between samples. A clamped spline controls the velocity in the end points. The acceleration is 0 in the end points. :type tpath: rw::trajectory::Path< rw::trajectory::Timed< rw::math::Q > > :param tpath: [in] the path over which the spline should be generated. :type dStart: Q :param dStart: [in] the velocity in the first point :type dEnd: Q :param dEnd: [in] the velocity in the last point. :rtype: rw::core::Ptr< rw::trajectory::InterpolatorTrajectory< rw::math::Q > > :return: a trajectory of CubicSplineInterpolators Notes: the following template parameters are currently supported: Transform3DVector, Vector3D, Quaternion

Overload 14:

creates a clamped spline trajectory where the timed label is used to determine the time between samples. A clamped spline controls the velocity in the end points. The acceleration is 0 in the end points. :type path: rw::trajectory::Path< rw::math::Q > :param path: [in] the path over which the spline should be generated. :type times: std::vector< double > :param times: [in] the times associated to the configurations in path. :type dStart: Q :param dStart: [in] the velocity in the first point :type dEnd: Q :param dEnd: [in] the velocity in the last point. :rtype: rw::core::Ptr< rw::trajectory::InterpolatorTrajectory< rw::math::Q > > :return: a trajectory of CubicSplineInterpolators Notes: the following template parameters are currently supported: Transform3DVector, Vector3D, Quaternion

Overload 15:

creates a clamped spline trajectory with equally spaced via points. That is time between samples is 1. A clamped spline controls the velocity in the end points. The acceleration is 0 in the end points. :type path: rw::trajectory::Path< rw::math::Quaternion< double > > :param path: [in] the path over which the spline should be generated. :type dStart: rw::math::Quaternion< double > :param dStart: [in] the velocity in the first point :type dEnd: rw::math::Quaternion< double > :param dEnd: [in] the velocity in the last point. :type timeStep: float, optional :param timeStep: documentation missing ! :rtype: rw::core::Ptr< rw::trajectory::InterpolatorTrajectory< rw::math::Quaternion< double > > > :return: a trajectory of CubicSplineInterpolators Notes: the following template parameters are currently supported: Transform3DVector, Vector3D, Quaternion

Overload 16:

creates a clamped spline trajectory with equally spaced via points. That is time between samples is 1. A clamped spline controls the velocity in the end points. The acceleration is 0 in the end points. :type path: rw::trajectory::Path< rw::math::Quaternion< double > > :param path: [in] the path over which the spline should be generated. :type dStart: rw::math::Quaternion< double > :param dStart: [in] the velocity in the first point :type dEnd: rw::math::Quaternion< double > :param dEnd: [in] the velocity in the last point. :param timeStep: documentation missing ! :rtype: rw::core::Ptr< rw::trajectory::InterpolatorTrajectory< rw::math::Quaternion< double > > > :return: a trajectory of CubicSplineInterpolators Notes: the following template parameters are currently supported: Transform3DVector, Vector3D, Quaternion

Overload 17:

creates a clamped spline trajectory where the timed label is used to determine the time between samples. A clamped spline controls the velocity in the end points. The acceleration is 0 in the end points. :type tpath: rw::trajectory::Path< rw::trajectory::Timed< rw::math::Quaternion< double > > > :param tpath: [in] the path over which the spline should be generated. :type dStart: rw::math::Quaternion< double > :param dStart: [in] the velocity in the first point :type dEnd: rw::math::Quaternion< double > :param dEnd: [in] the velocity in the last point. :rtype: rw::core::Ptr< rw::trajectory::InterpolatorTrajectory< rw::math::Quaternion< double > > > :return: a trajectory of CubicSplineInterpolators Notes: the following template parameters are currently supported: Transform3DVector, Vector3D, Quaternion

Overload 18:

creates a clamped spline trajectory where the timed label is used to determine the time between samples. A clamped spline controls the velocity in the end points. The acceleration is 0 in the end points. :type path: rw::trajectory::Path< rw::math::Quaternion< double > > :param path: [in] the path over which the spline should be generated. :type times: std::vector< double > :param times: [in] the times associated to the configurations in path. :type dStart: rw::math::Quaternion< double > :param dStart: [in] the velocity in the first point :type dEnd: rw::math::Quaternion< double > :param dEnd: [in] the velocity in the last point. :rtype: rw::core::Ptr< rw::trajectory::InterpolatorTrajectory< rw::math::Quaternion< double > > > :return: a trajectory of CubicSplineInterpolators Notes: the following template parameters are currently supported: Transform3DVector, Vector3D, Quaternion

static makeNaturalSpline(*args)

Overload 1:

constructs a free/natural cubic spline A natural cubic spline has free boundary conditions. Only one condition can be said for the end points namely acceleration is zero. * The spline passes through each data point. * The spline forms a continuous function over [a,b]. * The spline forms a smooth function. * The second derivative is continuous.

Parameters

• qpath (rw::core::Ptr< rw::trajectory::Path< rw::math::Q > >) – [in] a list of points that the spline should intersect

• timeStep (float, optional) – [in] the duration of each spline path

Overload 2:

constructs a natural cubic spline, see above.

Parameters

tqpath (rw::core::Ptr< rw::trajectory::Path< rw::trajectory::Timed< rw::math::Q > > >) – [in] a list of points with associated timestaps. The spline will intersect the points at the time specified in tqpath

Conditional comment: :param offset: [in] End of conditional comment. :rtype: rw::core::Ptr< rw::trajectory::InterpolatorTrajectory< rw::math::Q > > :return: a trajectory of CubicSplineInterpolators

Overload 3:

Construct a natural cubic spline. See documentation of CubicSplineFactory::makeNaturalSpline(QPath::Ptr, double)

Parameters

• qpath (rw::trajectory::Path< rw::math::Q >) – [in] Path to follow

• times (std::vector< double >) – [in] Times associated to the different configurations in qpath

Return type

rw::core::Ptr< rw::trajectory::InterpolatorTrajectory< rw::math::Q > >

Returns

a trajectory of CubicSplineInterpolators

Overload 4:

constructs a free/natural cubic spline A natural cubic spline has free boundary conditions. Only one condition can be said for the end points namely acceleration is zero. * The spline passes through each data point. * The spline forms a continuous function over [a,b]. * The spline forms a smooth function. * The second derivative is continuous.

Parameters

• path (rw::trajectory::Path< rw::math::Transform3D< double > >) – [in] a list of points that the spline should intersect

• timeStep (float, optional) – [in] the duration of each spline path

Overload 5:

constructs a free/natural cubic spline A natural cubic spline has free boundary conditions. Only one condition can be said for the end points namely acceleration is zero. * The spline passes through each data point. * The spline forms a continuous function over [a,b]. * The spline forms a smooth function. * The second derivative is continuous.

Parameters

• path (rw::trajectory::Path< rw::math::Transform3D< double > >) – [in] a list of points that the spline should intersect

• timeStep – [in] the duration of each spline path

Overload 6:

constructs a natural cubic spline, see above. :type path: rw::trajectory::Path< rw::trajectory::Timed< rw::math::Transform3D< double > > > :param path: [in] a list of points with associated timestaps. The spline will intersect

the points at the time specified in tqpath

Conditional comment: :param offset: [in] End of conditional comment. :rtype: rw::core::Ptr< rw::trajectory::InterpolatorTrajectory< rw::math::Transform3DVector< double > > > :return: a trajectory of CubicSplineInterpolators

Overload 7:

Construct a natural cubic spline. See documentation of CubicSplineFactory::makeNaturalSpline(QPath::Ptr, double)

Parameters

• path (rw::trajectory::Path< rw::math::Transform3D< double > >) – [in] Path to follow

• times (std::vector< double >) – [in] Times associated to the different configurations in path

Return type

rw::core::Ptr< rw::trajectory::InterpolatorTrajectory< rw::math::Transform3DVector< double > > >

Returns

a trajectory of CubicSplineInterpolators

Overload 8:

constructs a free/natural cubic spline A natural cubic spline has free boundary conditions. Only one condition can be said for the end points namely acceleration is zero. * The spline passes through each data point. * The spline forms a continuous function over [a,b]. * The spline forms a smooth function. * The second derivative is continuous.

Parameters

• path (rw::trajectory::Path< rw::math::Vector3D< double > >) – [in] a list of points that the spline should intersect

• timeStep (float, optional) – [in] the duration of each spline path

Return type

rw::core::Ptr< rw::trajectory::InterpolatorTrajectory< rw::math::Vector3D< double > > >

Returns

the Interpolated Trajectory of the Cubic spline

Notes: the following template parameters are currently supported: Transform3DVector, Vector3D, Quaternion

Overload 9:

constructs a free/natural cubic spline A natural cubic spline has free boundary conditions. Only one condition can be said for the end points namely acceleration is zero. * The spline passes through each data point. * The spline forms a continuous function over [a,b]. * The spline forms a smooth function. * The second derivative is continuous.

Parameters

• path (rw::trajectory::Path< rw::math::Vector3D< double > >) – [in] a list of points that the spline should intersect

• timeStep – [in] the duration of each spline path

Return type

rw::core::Ptr< rw::trajectory::InterpolatorTrajectory< rw::math::Vector3D< double > > >

Returns

the Interpolated Trajectory of the Cubic spline

Notes: the following template parameters are currently supported: Transform3DVector, Vector3D, Quaternion

Overload 10:

constructs a natural cubic spline, see above. :type path: rw::trajectory::Path< rw::trajectory::Timed< rw::math::Vector3D< double > > > :param path: [in] a list of points with associated timestaps. The spline will intersect

the points at the time specified in tqpath

Conditional comment: :param offset: [in] End of conditional comment. :rtype: rw::core::Ptr< rw::trajectory::InterpolatorTrajectory< rw::math::Vector3D< double > > > :return: a trajectory of CubicSplineInterpolators Notes: the following template parameters are currently supported: Transform3DVector, Vector3D, Quaternion

Overload 11:

Construct a natural cubic spline. See documentation of CubicSplineFactory::makeNaturalSpline(QPath::Ptr, double)

Parameters

• path (rw::trajectory::Path< rw::math::Vector3D< double > >) – [in] Path to follow

• times (std::vector< double >) – [in] Times associated to the different configurations in path

Return type

rw::core::Ptr< rw::trajectory::InterpolatorTrajectory< rw::math::Vector3D< double > > >

Returns

a trajectory of CubicSplineInterpolators

Notes: the following template parameters are currently supported: Transform3DVector, Vector3D, Quaternion

Overload 12:

constructs a free/natural cubic spline A natural cubic spline has free boundary conditions. Only one condition can be said for the end points namely acceleration is zero. * The spline passes through each data point. * The spline forms a continuous function over [a,b]. * The spline forms a smooth function. * The second derivative is continuous.

Parameters

• path (rw::trajectory::Path< rw::math::Transform3DVector< double > >) – [in] a list of points that the spline should intersect

• timeStep (float, optional) – [in] the duration of each spline path

Return type

rw::core::Ptr< rw::trajectory::InterpolatorTrajectory< rw::math::Transform3DVector< double > > >

Returns

the Interpolated Trajectory of the Cubic spline

Notes: the following template parameters are currently supported: Transform3DVector, Vector3D, Quaternion

Overload 13:

constructs a free/natural cubic spline A natural cubic spline has free boundary conditions. Only one condition can be said for the end points namely acceleration is zero. * The spline passes through each data point. * The spline forms a continuous function over [a,b]. * The spline forms a smooth function. * The second derivative is continuous.

Parameters

• path (rw::trajectory::Path< rw::math::Transform3DVector< double > >) – [in] a list of points that the spline should intersect

• timeStep – [in] the duration of each spline path

Return type

rw::core::Ptr< rw::trajectory::InterpolatorTrajectory< rw::math::Transform3DVector< double > > >

Returns

the Interpolated Trajectory of the Cubic spline

Notes: the following template parameters are currently supported: Transform3DVector, Vector3D, Quaternion

Overload 14:

constructs a natural cubic spline, see above. :type path: rw::trajectory::Path< rw::trajectory::Timed< rw::math::Transform3DVector< double > > > :param path: [in] a list of points with associated timestaps. The spline will intersect

the points at the time specified in tqpath

Conditional comment: :param offset: [in] End of conditional comment. :rtype: rw::core::Ptr< rw::trajectory::InterpolatorTrajectory< rw::math::Transform3DVector< double > > > :return: a trajectory of CubicSplineInterpolators Notes: the following template parameters are currently supported: Transform3DVector, Vector3D, Quaternion

Overload 15:

Construct a natural cubic spline. See documentation of CubicSplineFactory::makeNaturalSpline(QPath::Ptr, double)

Parameters

• path (rw::trajectory::Path< rw::math::Transform3DVector< double > >) – [in] Path to follow

• times (std::vector< double >) – [in] Times associated to the different configurations in path

Return type

rw::core::Ptr< rw::trajectory::InterpolatorTrajectory< rw::math::Transform3DVector< double > > >

Returns

a trajectory of CubicSplineInterpolators

Notes: the following template parameters are currently supported: Transform3DVector, Vector3D, Quaternion

Overload 16:

constructs a free/natural cubic spline A natural cubic spline has free boundary conditions. Only one condition can be said for the end points namely acceleration is zero. * The spline passes through each data point. * The spline forms a continuous function over [a,b]. * The spline forms a smooth function. * The second derivative is continuous.

Parameters

• path (rw::trajectory::Path< rw::math::Q >) – [in] a list of points that the spline should intersect

• timeStep (float, optional) – [in] the duration of each spline path

Return type

rw::core::Ptr< rw::trajectory::InterpolatorTrajectory< rw::math::Q > >

Returns

the Interpolated Trajectory of the Cubic spline

Notes: the following template parameters are currently supported: Transform3DVector, Vector3D, Quaternion

Overload 17:

constructs a free/natural cubic spline A natural cubic spline has free boundary conditions. Only one condition can be said for the end points namely acceleration is zero. * The spline passes through each data point. * The spline forms a continuous function over [a,b]. * The spline forms a smooth function. * The second derivative is continuous.

Parameters

• path (rw::trajectory::Path< rw::math::Q >) – [in] a list of points that the spline should intersect

• timeStep – [in] the duration of each spline path

Return type

rw::core::Ptr< rw::trajectory::InterpolatorTrajectory< rw::math::Q > >

Returns

the Interpolated Trajectory of the Cubic spline

Notes: the following template parameters are currently supported: Transform3DVector, Vector3D, Quaternion

Overload 18:

constructs a natural cubic spline, see above. :type path: rw::trajectory::Path< rw::trajectory::Timed< rw::math::Q > > :param path: [in] a list of points with associated timestaps. The spline will intersect

the points at the time specified in tqpath

Conditional comment: :param offset: [in] End of conditional comment. :rtype: rw::core::Ptr< rw::trajectory::InterpolatorTrajectory< rw::math::Q > > :return: a trajectory of CubicSplineInterpolators Notes: the following template parameters are currently supported: Transform3DVector, Vector3D, Quaternion

Overload 19:

constructs a free/natural cubic spline A natural cubic spline has free boundary conditions. Only one condition can be said for the end points namely acceleration is zero. * The spline passes through each data point. * The spline forms a continuous function over [a,b]. * The spline forms a smooth function. * The second derivative is continuous.

Parameters

• path (rw::trajectory::Path< rw::math::Quaternion< double > >) – [in] a list of points that the spline should intersect

• timeStep (float, optional) – [in] the duration of each spline path

Return type

rw::core::Ptr< rw::trajectory::InterpolatorTrajectory< rw::math::Quaternion< double > > >

Returns

the Interpolated Trajectory of the Cubic spline

Notes: the following template parameters are currently supported: Transform3DVector, Vector3D, Quaternion

Overload 20:

constructs a free/natural cubic spline A natural cubic spline has free boundary conditions. Only one condition can be said for the end points namely acceleration is zero. * The spline passes through each data point. * The spline forms a continuous function over [a,b]. * The spline forms a smooth function. * The second derivative is continuous.

Parameters

• path (rw::trajectory::Path< rw::math::Quaternion< double > >) – [in] a list of points that the spline should intersect

• timeStep – [in] the duration of each spline path

Return type

rw::core::Ptr< rw::trajectory::InterpolatorTrajectory< rw::math::Quaternion< double > > >

Returns

the Interpolated Trajectory of the Cubic spline

Notes: the following template parameters are currently supported: Transform3DVector, Vector3D, Quaternion

Overload 21:

constructs a natural cubic spline, see above. :type path: rw::trajectory::Path< rw::trajectory::Timed< rw::math::Quaternion< double > > > :param path: [in] a list of points with associated timestaps. The spline will intersect

the points at the time specified in tqpath

Conditional comment: :param offset: [in] End of conditional comment. :rtype: rw::core::Ptr< rw::trajectory::InterpolatorTrajectory< rw::math::Quaternion< double > > > :return: a trajectory of CubicSplineInterpolators Notes: the following template parameters are currently supported: Transform3DVector, Vector3D, Quaternion

Overload 22:

Construct a natural cubic spline. See documentation of CubicSplineFactory::makeNaturalSpline(QPath::Ptr, double)

Parameters

• path (rw::trajectory::Path< rw::math::Quaternion< double > >) – [in] Path to follow

• times (std::vector< double >) – [in] Times associated to the different configurations in path

Return type

rw::core::Ptr< rw::trajectory::InterpolatorTrajectory< rw::math::Quaternion< double > > >

Returns

a trajectory of CubicSplineInterpolators

Notes: the following template parameters are currently supported: Transform3DVector, Vector3D, Quaternion

static makeSQUAD(*args)

Overload 1:

constructs a Spherical Spline Quaternion interpolation (SQUAD) A natural SQUAD has free boundary conditions. The SQUAD passes through each data point. The SQUAD forms a continuous function over [a,b]. The SQUAD forms a smooth function. The second derivative is continuous.

Parameters

• path (rw::trajectory::Path< rw::math::Quaternion< double > >) – [in] a list of points that the SQUAD should intersect

• timeStep (float, optional) – [in] the duration of each SQUAD path

Return type

rw::core::Ptr< rw::trajectory::InterpolatorTrajectory< rw::math::Quaternion< double > > >

Returns

a trajectory of SQUADInterpolators

Overload 2:

constructs a Spherical Spline Quaternion interpolation (SQUAD)

Parameters

tpath (rw::trajectory::Path< rw::trajectory::Timed< rw::math::Quaternion< double > > >) – [in] a list of points with associated timestaps. The SQUAD will intersect the points at the time specified in tpath

Return type

rw::core::Ptr< rw::trajectory::InterpolatorTrajectory< rw::math::Quaternion< double > > >

Returns

a trajectory of SQUADInterpolators

Overload 3:

constructs a Spherical Spline Quaternion interpolation (SQUAD)

Parameters

• path (rw::trajectory::Path< rw::math::Quaternion< double > >) – [in] Path to follow

• times (std::vector< double >) – [in] Times associated to the different configurations in qpath

Return type

rw::core::Ptr< rw::trajectory::InterpolatorTrajectory< rw::math::Quaternion< double > > >

Returns

a trajectory of CubicSplineInterpolators

property thisown

The membership flag

sdurw_trajectory.sdurw_trajectory.CubicSplineFactory_makeClampedSpline(*args)

Overload 1:

creates a clamped spline trajectory with equally spaced via points. That is time between samples is 1. A clamped spline controls the velocity in the end points. The acceleration is 0 in the end points. :type qpath: rw::core::Ptr< rw::trajectory::Path< rw::math::Q > > :param qpath: [in] the path over which the spline should be generated. :type dqStart: Q :param dqStart: [in] the velocity in the first point :type dqEnd: Q :param dqEnd: [in] the velocity in the last point. :type timeStep: float, optional :param timeStep: documentation missing ! :rtype: rw::core::Ptr< rw::trajectory::InterpolatorTrajectory< rw::math::Q > > :return: a trajectory of CubicSplineInterpolators Notes: the following template parameters are currently supported: Transform3DVector, Vector3D, Quaternion

Overload 2:

creates a clamped spline trajectory where the timed label is used to determine the time between samples. A clamped spline controls the velocity in the end points. The acceleration is 0 in the end points. :type tqpath: rw::core::Ptr< rw::trajectory::Path< rw::trajectory::Timed< rw::math::Q > > > :param tqpath: [in] the path over which the spline should be generated. :type dqStart: Q :param dqStart: [in] the velocity in the first point :type dqEnd: Q :param dqEnd: [in] the velocity in the last point. :rtype: rw::core::Ptr< rw::trajectory::InterpolatorTrajectory< rw::math::Q > > :return: a trajectory of CubicSplineInterpolators Notes: the following template parameters are currently supported: Transform3DVector, Vector3D, Quaternion

Overload 3:

creates a clamped spline trajectory with equally spaced via points. That is time between samples is 1. A clamped spline controls the velocity in the end points. The acceleration is 0 in the end points. :type path: rw::trajectory::Path< rw::math::Vector3D< double > > :param path: [in] the path over which the spline should be generated. :type dStart: rw::math::Vector3D< double > :param dStart: [in] the velocity in the first point :type dEnd: rw::math::Vector3D< double > :param dEnd: [in] the velocity in the last point. :type timeStep: float, optional :param timeStep: documentation missing ! :rtype: rw::core::Ptr< rw::trajectory::InterpolatorTrajectory< rw::math::Vector3D< double > > > :return: a trajectory of CubicSplineInterpolators Notes: the following template parameters are currently supported: Transform3DVector, Vector3D, Quaternion

Overload 4:

creates a clamped spline trajectory with equally spaced via points. That is time between samples is 1. A clamped spline controls the velocity in the end points. The acceleration is 0 in the end points. :type path: rw::trajectory::Path< rw::math::Vector3D< double > > :param path: [in] the path over which the spline should be generated. :type dStart: rw::math::Vector3D< double > :param dStart: [in] the velocity in the first point :type dEnd: rw::math::Vector3D< double > :param dEnd: [in] the velocity in the last point. :param timeStep: documentation missing ! :rtype: rw::core::Ptr< rw::trajectory::InterpolatorTrajectory< rw::math::Vector3D< double > > > :return: a trajectory of CubicSplineInterpolators Notes: the following template parameters are currently supported: Transform3DVector, Vector3D, Quaternion

Overload 5:

creates a clamped spline trajectory where the timed label is used to determine the time between samples. A clamped spline controls the velocity in the end points. The acceleration is 0 in the end points. :type tpath: rw::trajectory::Path< rw::trajectory::Timed< rw::math::Vector3D< double > > > :param tpath: [in] the path over which the spline should be generated. :type dStart: rw::math::Vector3D< double > :param dStart: [in] the velocity in the first point :type dEnd: rw::math::Vector3D< double > :param dEnd: [in] the velocity in the last point. :rtype: rw::core::Ptr< rw::trajectory::InterpolatorTrajectory< rw::math::Vector3D< double > > > :return: a trajectory of CubicSplineInterpolators Notes: the following template parameters are currently supported: Transform3DVector, Vector3D, Quaternion

Overload 6:

creates a clamped spline trajectory where the timed label is used to determine the time between samples. A clamped spline controls the velocity in the end points. The acceleration is 0 in the end points. :type path: rw::trajectory::Path< rw::math::Vector3D< double > > :param path: [in] the path over which the spline should be generated. :type times: std::vector< double > :param times: [in] the times associated to the configurations in path. :type dStart: rw::math::Vector3D< double > :param dStart: [in] the velocity in the first point :type dEnd: rw::math::Vector3D< double > :param dEnd: [in] the velocity in the last point. :rtype: rw::core::Ptr< rw::trajectory::InterpolatorTrajectory< rw::math::Vector3D< double > > > :return: a trajectory of CubicSplineInterpolators Notes: the following template parameters are currently supported: Transform3DVector, Vector3D, Quaternion

Overload 7:

creates a clamped spline trajectory with equally spaced via points. That is time between samples is 1. A clamped spline controls the velocity in the end points. The acceleration is 0 in the end points. :type path: rw::trajectory::Path< rw::math::Transform3DVector< double > > :param path: [in] the path over which the spline should be generated. :type dStart: rw::math::Transform3DVector< double > :param dStart: [in] the velocity in the first point :type dEnd: rw::math::Transform3DVector< double > :param dEnd: [in] the velocity in the last point. :type timeStep: float, optional :param timeStep: documentation missing ! :rtype: rw::core::Ptr< rw::trajectory::InterpolatorTrajectory< rw::math::Transform3DVector< double > > > :return: a trajectory of CubicSplineInterpolators Notes: the following template parameters are currently supported: Transform3DVector, Vector3D, Quaternion

Overload 8:

creates a clamped spline trajectory with equally spaced via points. That is time between samples is 1. A clamped spline controls the velocity in the end points. The acceleration is 0 in the end points. :type path: rw::trajectory::Path< rw::math::Transform3DVector< double > > :param path: [in] the path over which the spline should be generated. :type dStart: rw::math::Transform3DVector< double > :param dStart: [in] the velocity in the first point :type dEnd: rw::math::Transform3DVector< double > :param dEnd: [in] the velocity in the last point. :param timeStep: documentation missing ! :rtype: rw::core::Ptr< rw::trajectory::InterpolatorTrajectory< rw::math::Transform3DVector< double > > > :return: a trajectory of CubicSplineInterpolators Notes: the following template parameters are currently supported: Transform3DVector, Vector3D, Quaternion

Overload 9:

creates a clamped spline trajectory where the timed label is used to determine the time between samples. A clamped spline controls the velocity in the end points. The acceleration is 0 in the end points. :type tpath: rw::trajectory::Path< rw::trajectory::Timed< rw::math::Transform3DVector< double > > > :param tpath: [in] the path over which the spline should be generated. :type dStart: rw::math::Transform3DVector< double > :param dStart: [in] the velocity in the first point :type dEnd: rw::math::Transform3DVector< double > :param dEnd: [in] the velocity in the last point. :rtype: rw::core::Ptr< rw::trajectory::InterpolatorTrajectory< rw::math::Transform3DVector< double > > > :return: a trajectory of CubicSplineInterpolators Notes: the following template parameters are currently supported: Transform3DVector, Vector3D, Quaternion

Overload 10:

creates a clamped spline trajectory where the timed label is used to determine the time between samples. A clamped spline controls the velocity in the end points. The acceleration is 0 in the end points. :type path: rw::trajectory::Path< rw::math::Transform3DVector< double > > :param path: [in] the path over which the spline should be generated. :type times: std::vector< double > :param times: [in] the times associated to the configurations in path. :type dStart: rw::math::Transform3DVector< double > :param dStart: [in] the velocity in the first point :type dEnd: rw::math::Transform3DVector< double > :param dEnd: [in] the velocity in the last point. :rtype: rw::core::Ptr< rw::trajectory::InterpolatorTrajectory< rw::math::Transform3DVector< double > > > :return: a trajectory of CubicSplineInterpolators Notes: the following template parameters are currently supported: Transform3DVector, Vector3D, Quaternion

Overload 11:

creates a clamped spline trajectory with equally spaced via points. That is time between samples is 1. A clamped spline controls the velocity in the end points. The acceleration is 0 in the end points. :type path: rw::trajectory::Path< rw::math::Q > :param path: [in] the path over which the spline should be generated. :type dStart: Q :param dStart: [in] the velocity in the first point :type dEnd: Q :param dEnd: [in] the velocity in the last point. :type timeStep: float, optional :param timeStep: documentation missing ! :rtype: rw::core::Ptr< rw::trajectory::InterpolatorTrajectory< rw::math::Q > > :return: a trajectory of CubicSplineInterpolators Notes: the following template parameters are currently supported: Transform3DVector, Vector3D, Quaternion

Overload 12:

creates a clamped spline trajectory with equally spaced via points. That is time between samples is 1. A clamped spline controls the velocity in the end points. The acceleration is 0 in the end points. :type path: rw::trajectory::Path< rw::math::Q > :param path: [in] the path over which the spline should be generated. :type dStart: Q :param dStart: [in] the velocity in the first point :type dEnd: Q :param dEnd: [in] the velocity in the last point. :param timeStep: documentation missing ! :rtype: rw::core::Ptr< rw::trajectory::InterpolatorTrajectory< rw::math::Q > > :return: a trajectory of CubicSplineInterpolators Notes: the following template parameters are currently supported: Transform3DVector, Vector3D, Quaternion

Overload 13:

creates a clamped spline trajectory where the timed label is used to determine the time between samples. A clamped spline controls the velocity in the end points. The acceleration is 0 in the end points. :type tpath: rw::trajectory::Path< rw::trajectory::Timed< rw::math::Q > > :param tpath: [in] the path over which the spline should be generated. :type dStart: Q :param dStart: [in] the velocity in the first point :type dEnd: Q :param dEnd: [in] the velocity in the last point. :rtype: rw::core::Ptr< rw::trajectory::InterpolatorTrajectory< rw::math::Q > > :return: a trajectory of CubicSplineInterpolators Notes: the following template parameters are currently supported: Transform3DVector, Vector3D, Quaternion

Overload 14:

creates a clamped spline trajectory where the timed label is used to determine the time between samples. A clamped spline controls the velocity in the end points. The acceleration is 0 in the end points. :type path: rw::trajectory::Path< rw::math::Q > :param path: [in] the path over which the spline should be generated. :type times: std::vector< double > :param times: [in] the times associated to the configurations in path. :type dStart: Q :param dStart: [in] the velocity in the first point :type dEnd: Q :param dEnd: [in] the velocity in the last point. :rtype: rw::core::Ptr< rw::trajectory::InterpolatorTrajectory< rw::math::Q > > :return: a trajectory of CubicSplineInterpolators Notes: the following template parameters are currently supported: Transform3DVector, Vector3D, Quaternion

Overload 15:

creates a clamped spline trajectory with equally spaced via points. That is time between samples is 1. A clamped spline controls the velocity in the end points. The acceleration is 0 in the end points. :type path: rw::trajectory::Path< rw::math::Quaternion< double > > :param path: [in] the path over which the spline should be generated. :type dStart: rw::math::Quaternion< double > :param dStart: [in] the velocity in the first point :type dEnd: rw::math::Quaternion< double > :param dEnd: [in] the velocity in the last point. :type timeStep: float, optional :param timeStep: documentation missing ! :rtype: rw::core::Ptr< rw::trajectory::InterpolatorTrajectory< rw::math::Quaternion< double > > > :return: a trajectory of CubicSplineInterpolators Notes: the following template parameters are currently supported: Transform3DVector, Vector3D, Quaternion

Overload 16:

creates a clamped spline trajectory with equally spaced via points. That is time between samples is 1. A clamped spline controls the velocity in the end points. The acceleration is 0 in the end points. :type path: rw::trajectory::Path< rw::math::Quaternion< double > > :param path: [in] the path over which the spline should be generated. :type dStart: rw::math::Quaternion< double > :param dStart: [in] the velocity in the first point :type dEnd: rw::math::Quaternion< double > :param dEnd: [in] the velocity in the last point. :param timeStep: documentation missing ! :rtype: rw::core::Ptr< rw::trajectory::InterpolatorTrajectory< rw::math::Quaternion< double > > > :return: a trajectory of CubicSplineInterpolators Notes: the following template parameters are currently supported: Transform3DVector, Vector3D, Quaternion

Overload 17:

creates a clamped spline trajectory where the timed label is used to determine the time between samples. A clamped spline controls the velocity in the end points. The acceleration is 0 in the end points. :type tpath: rw::trajectory::Path< rw::trajectory::Timed< rw::math::Quaternion< double > > > :param tpath: [in] the path over which the spline should be generated. :type dStart: rw::math::Quaternion< double > :param dStart: [in] the velocity in the first point :type dEnd: rw::math::Quaternion< double > :param dEnd: [in] the velocity in the last point. :rtype: rw::core::Ptr< rw::trajectory::InterpolatorTrajectory< rw::math::Quaternion< double > > > :return: a trajectory of CubicSplineInterpolators Notes: the following template parameters are currently supported: Transform3DVector, Vector3D, Quaternion

Overload 18:

creates a clamped spline trajectory where the timed label is used to determine the time between samples. A clamped spline controls the velocity in the end points. The acceleration is 0 in the end points. :type path: rw::trajectory::Path< rw::math::Quaternion< double > > :param path: [in] the path over which the spline should be generated. :type times: std::vector< double > :param times: [in] the times associated to the configurations in path. :type dStart: rw::math::Quaternion< double > :param dStart: [in] the velocity in the first point :type dEnd: rw::math::Quaternion< double > :param dEnd: [in] the velocity in the last point. :rtype: rw::core::Ptr< rw::trajectory::InterpolatorTrajectory< rw::math::Quaternion< double > > > :return: a trajectory of CubicSplineInterpolators Notes: the following template parameters are currently supported: Transform3DVector, Vector3D, Quaternion

sdurw_trajectory.sdurw_trajectory.CubicSplineFactory_makeNaturalSpline(*args)

Overload 1:

constructs a free/natural cubic spline A natural cubic spline has free boundary conditions. Only one condition can be said for the end points namely acceleration is zero. * The spline passes through each data point. * The spline forms a continuous function over [a,b]. * The spline forms a smooth function. * The second derivative is continuous.

Parameters

• qpath (rw::core::Ptr< rw::trajectory::Path< rw::math::Q > >) – [in] a list of points that the spline should intersect

• timeStep (float, optional) – [in] the duration of each spline path

Overload 2:

constructs a natural cubic spline, see above.

Parameters

tqpath (rw::core::Ptr< rw::trajectory::Path< rw::trajectory::Timed< rw::math::Q > > >) – [in] a list of points with associated timestaps. The spline will intersect the points at the time specified in tqpath

Conditional comment: :param offset: [in] End of conditional comment. :rtype: rw::core::Ptr< rw::trajectory::InterpolatorTrajectory< rw::math::Q > > :return: a trajectory of CubicSplineInterpolators

Overload 3:

Construct a natural cubic spline. See documentation of CubicSplineFactory::makeNaturalSpline(QPath::Ptr, double)

Parameters

• qpath (rw::trajectory::Path< rw::math::Q >) – [in] Path to follow

• times (std::vector< double >) – [in] Times associated to the different configurations in qpath

Return type

rw::core::Ptr< rw::trajectory::InterpolatorTrajectory< rw::math::Q > >

Returns

a trajectory of CubicSplineInterpolators

Overload 4:

constructs a free/natural cubic spline A natural cubic spline has free boundary conditions. Only one condition can be said for the end points namely acceleration is zero. * The spline passes through each data point. * The spline forms a continuous function over [a,b]. * The spline forms a smooth function. * The second derivative is continuous.

Parameters

• path (rw::trajectory::Path< rw::math::Transform3D< double > >) – [in] a list of points that the spline should intersect

• timeStep (float, optional) – [in] the duration of each spline path

Overload 5:

constructs a free/natural cubic spline A natural cubic spline has free boundary conditions. Only one condition can be said for the end points namely acceleration is zero. * The spline passes through each data point. * The spline forms a continuous function over [a,b]. * The spline forms a smooth function. * The second derivative is continuous.

Parameters

• path (rw::trajectory::Path< rw::math::Transform3D< double > >) – [in] a list of points that the spline should intersect

• timeStep – [in] the duration of each spline path

Overload 6:

constructs a natural cubic spline, see above. :type path: rw::trajectory::Path< rw::trajectory::Timed< rw::math::Transform3D< double > > > :param path: [in] a list of points with associated timestaps. The spline will intersect

the points at the time specified in tqpath

Conditional comment: :param offset: [in] End of conditional comment. :rtype: rw::core::Ptr< rw::trajectory::InterpolatorTrajectory< rw::math::Transform3DVector< double > > > :return: a trajectory of CubicSplineInterpolators

Overload 7:

Construct a natural cubic spline. See documentation of CubicSplineFactory::makeNaturalSpline(QPath::Ptr, double)

Parameters

• path (rw::trajectory::Path< rw::math::Transform3D< double > >) – [in] Path to follow

• times (std::vector< double >) – [in] Times associated to the different configurations in path

Return type

rw::core::Ptr< rw::trajectory::InterpolatorTrajectory< rw::math::Transform3DVector< double > > >

Returns

a trajectory of CubicSplineInterpolators

Overload 8:

constructs a free/natural cubic spline A natural cubic spline has free boundary conditions. Only one condition can be said for the end points namely acceleration is zero. * The spline passes through each data point. * The spline forms a continuous function over [a,b]. * The spline forms a smooth function. * The second derivative is continuous.

Parameters

• path (rw::trajectory::Path< rw::math::Vector3D< double > >) – [in] a list of points that the spline should intersect

• timeStep (float, optional) – [in] the duration of each spline path

Return type

rw::core::Ptr< rw::trajectory::InterpolatorTrajectory< rw::math::Vector3D< double > > >

Returns

the Interpolated Trajectory of the Cubic spline

Notes: the following template parameters are currently supported: Transform3DVector, Vector3D, Quaternion

Overload 9:

constructs a free/natural cubic spline A natural cubic spline has free boundary conditions. Only one condition can be said for the end points namely acceleration is zero. * The spline passes through each data point. * The spline forms a continuous function over [a,b]. * The spline forms a smooth function. * The second derivative is continuous.

Parameters

• path (rw::trajectory::Path< rw::math::Vector3D< double > >) – [in] a list of points that the spline should intersect

• timeStep – [in] the duration of each spline path

Return type

rw::core::Ptr< rw::trajectory::InterpolatorTrajectory< rw::math::Vector3D< double > > >

Returns

the Interpolated Trajectory of the Cubic spline

Notes: the following template parameters are currently supported: Transform3DVector, Vector3D, Quaternion

Overload 10:

constructs a natural cubic spline, see above. :type path: rw::trajectory::Path< rw::trajectory::Timed< rw::math::Vector3D< double > > > :param path: [in] a list of points with associated timestaps. The spline will intersect

the points at the time specified in tqpath

Conditional comment: :param offset: [in] End of conditional comment. :rtype: rw::core::Ptr< rw::trajectory::InterpolatorTrajectory< rw::math::Vector3D< double > > > :return: a trajectory of CubicSplineInterpolators Notes: the following template parameters are currently supported: Transform3DVector, Vector3D, Quaternion

Overload 11:

Construct a natural cubic spline. See documentation of CubicSplineFactory::makeNaturalSpline(QPath::Ptr, double)

Parameters

• path (rw::trajectory::Path< rw::math::Vector3D< double > >) – [in] Path to follow

• times (std::vector< double >) – [in] Times associated to the different configurations in path

Return type

rw::core::Ptr< rw::trajectory::InterpolatorTrajectory< rw::math::Vector3D< double > > >

Returns

a trajectory of CubicSplineInterpolators

Notes: the following template parameters are currently supported: Transform3DVector, Vector3D, Quaternion

Overload 12:

constructs a free/natural cubic spline A natural cubic spline has free boundary conditions. Only one condition can be said for the end points namely acceleration is zero. * The spline passes through each data point. * The spline forms a continuous function over [a,b]. * The spline forms a smooth function. * The second derivative is continuous.

Parameters

• path (rw::trajectory::Path< rw::math::Transform3DVector< double > >) – [in] a list of points that the spline should intersect

• timeStep (float, optional) – [in] the duration of each spline path

Return type

rw::core::Ptr< rw::trajectory::InterpolatorTrajectory< rw::math::Transform3DVector< double > > >

Returns

the Interpolated Trajectory of the Cubic spline

Notes: the following template parameters are currently supported: Transform3DVector, Vector3D, Quaternion

Overload 13:

constructs a free/natural cubic spline A natural cubic spline has free boundary conditions. Only one condition can be said for the end points namely acceleration is zero. * The spline passes through each data point. * The spline forms a continuous function over [a,b]. * The spline forms a smooth function. * The second derivative is continuous.

Parameters

• path (rw::trajectory::Path< rw::math::Transform3DVector< double > >) – [in] a list of points that the spline should intersect

• timeStep – [in] the duration of each spline path

Return type

rw::core::Ptr< rw::trajectory::InterpolatorTrajectory< rw::math::Transform3DVector< double > > >

Returns

the Interpolated Trajectory of the Cubic spline

Notes: the following template parameters are currently supported: Transform3DVector, Vector3D, Quaternion

Overload 14:

constructs a natural cubic spline, see above. :type path: rw::trajectory::Path< rw::trajectory::Timed< rw::math::Transform3DVector< double > > > :param path: [in] a list of points with associated timestaps. The spline will intersect

the points at the time specified in tqpath

Conditional comment: :param offset: [in] End of conditional comment. :rtype: rw::core::Ptr< rw::trajectory::InterpolatorTrajectory< rw::math::Transform3DVector< double > > > :return: a trajectory of CubicSplineInterpolators Notes: the following template parameters are currently supported: Transform3DVector, Vector3D, Quaternion

Overload 15:

Construct a natural cubic spline. See documentation of CubicSplineFactory::makeNaturalSpline(QPath::Ptr, double)

Parameters

• path (rw::trajectory::Path< rw::math::Transform3DVector< double > >) – [in] Path to follow

• times (std::vector< double >) – [in] Times associated to the different configurations in path

Return type

rw::core::Ptr< rw::trajectory::InterpolatorTrajectory< rw::math::Transform3DVector< double > > >

Returns

a trajectory of CubicSplineInterpolators

Notes: the following template parameters are currently supported: Transform3DVector, Vector3D, Quaternion

Overload 16:

constructs a free/natural cubic spline A natural cubic spline has free boundary conditions. Only one condition can be said for the end points namely acceleration is zero. * The spline passes through each data point. * The spline forms a continuous function over [a,b]. * The spline forms a smooth function. * The second derivative is continuous.

Parameters

• path (rw::trajectory::Path< rw::math::Q >) – [in] a list of points that the spline should intersect

• timeStep (float, optional) – [in] the duration of each spline path

Return type

rw::core::Ptr< rw::trajectory::InterpolatorTrajectory< rw::math::Q > >

Returns

the Interpolated Trajectory of the Cubic spline

Notes: the following template parameters are currently supported: Transform3DVector, Vector3D, Quaternion

Overload 17:

constructs a free/natural cubic spline A natural cubic spline has free boundary conditions. Only one condition can be said for the end points namely acceleration is zero. * The spline passes through each data point. * The spline forms a continuous function over [a,b]. * The spline forms a smooth function. * The second derivative is continuous.

Parameters

• path (rw::trajectory::Path< rw::math::Q >) – [in] a list of points that the spline should intersect

• timeStep – [in] the duration of each spline path

Return type

rw::core::Ptr< rw::trajectory::InterpolatorTrajectory< rw::math::Q > >

Returns

the Interpolated Trajectory of the Cubic spline

Notes: the following template parameters are currently supported: Transform3DVector, Vector3D, Quaternion

Overload 18:

constructs a natural cubic spline, see above. :type path: rw::trajectory::Path< rw::trajectory::Timed< rw::math::Q > > :param path: [in] a list of points with associated timestaps. The spline will intersect

the points at the time specified in tqpath

Conditional comment: :param offset: [in] End of conditional comment. :rtype: rw::core::Ptr< rw::trajectory::InterpolatorTrajectory< rw::math::Q > > :return: a trajectory of CubicSplineInterpolators Notes: the following template parameters are currently supported: Transform3DVector, Vector3D, Quaternion

Overload 19:

constructs a free/natural cubic spline A natural cubic spline has free boundary conditions. Only one condition can be said for the end points namely acceleration is zero. * The spline passes through each data point. * The spline forms a continuous function over [a,b]. * The spline forms a smooth function. * The second derivative is continuous.

Parameters

• path (rw::trajectory::Path< rw::math::Quaternion< double > >) – [in] a list of points that the spline should intersect

• timeStep (float, optional) – [in] the duration of each spline path

Return type

rw::core::Ptr< rw::trajectory::InterpolatorTrajectory< rw::math::Quaternion< double > > >

Returns

the Interpolated Trajectory of the Cubic spline

Notes: the following template parameters are currently supported: Transform3DVector, Vector3D, Quaternion

Overload 20:

constructs a free/natural cubic spline A natural cubic spline has free boundary conditions. Only one condition can be said for the end points namely acceleration is zero. * The spline passes through each data point. * The spline forms a continuous function over [a,b]. * The spline forms a smooth function. * The second derivative is continuous.

Parameters

• path (rw::trajectory::Path< rw::math::Quaternion< double > >) – [in] a list of points that the spline should intersect

• timeStep – [in] the duration of each spline path

Return type

rw::core::Ptr< rw::trajectory::InterpolatorTrajectory< rw::math::Quaternion< double > > >

Returns

the Interpolated Trajectory of the Cubic spline

Notes: the following template parameters are currently supported: Transform3DVector, Vector3D, Quaternion

Overload 21:

constructs a natural cubic spline, see above. :type path: rw::trajectory::Path< rw::trajectory::Timed< rw::math::Quaternion< double > > > :param path: [in] a list of points with associated timestaps. The spline will intersect

the points at the time specified in tqpath

Conditional comment: :param offset: [in] End of conditional comment. :rtype: rw::core::Ptr< rw::trajectory::InterpolatorTrajectory< rw::math::Quaternion< double > > > :return: a trajectory of CubicSplineInterpolators Notes: the following template parameters are currently supported: Transform3DVector, Vector3D, Quaternion

Overload 22:

Construct a natural cubic spline. See documentation of CubicSplineFactory::makeNaturalSpline(QPath::Ptr, double)

Parameters

• path (rw::trajectory::Path< rw::math::Quaternion< double > >) – [in] Path to follow

• times (std::vector< double >) – [in] Times associated to the different configurations in path

Return type

rw::core::Ptr< rw::trajectory::InterpolatorTrajectory< rw::math::Quaternion< double > > >

Returns

a trajectory of CubicSplineInterpolators

Notes: the following template parameters are currently supported: Transform3DVector, Vector3D, Quaternion

sdurw_trajectory.sdurw_trajectory.CubicSplineFactory_makeSQUAD(*args)

Overload 1:

constructs a Spherical Spline Quaternion interpolation (SQUAD) A natural SQUAD has free boundary conditions. The SQUAD passes through each data point. The SQUAD forms a continuous function over [a,b]. The SQUAD forms a smooth function. The second derivative is continuous.

Parameters

• path (rw::trajectory::Path< rw::math::Quaternion< double > >) – [in] a list of points that the SQUAD should intersect

• timeStep (float, optional) – [in] the duration of each SQUAD path

Return type

rw::core::Ptr< rw::trajectory::InterpolatorTrajectory< rw::math::Quaternion< double > > >

Returns

a trajectory of SQUADInterpolators

Overload 2:

constructs a Spherical Spline Quaternion interpolation (SQUAD)

Parameters

tpath (rw::trajectory::Path< rw::trajectory::Timed< rw::math::Quaternion< double > > >) – [in] a list of points with associated timestaps. The SQUAD will intersect the points at the time specified in tpath

Return type

rw::core::Ptr< rw::trajectory::InterpolatorTrajectory< rw::math::Quaternion< double > > >

Returns

a trajectory of SQUADInterpolators

Overload 3:

constructs a Spherical Spline Quaternion interpolation (SQUAD)

Parameters

• path (rw::trajectory::Path< rw::math::Quaternion< double > >) – [in] Path to follow

• times (std::vector< double >) – [in] Times associated to the different configurations in qpath

Return type

rw::core::Ptr< rw::trajectory::InterpolatorTrajectory< rw::math::Quaternion< double > > >

Returns

a trajectory of CubicSplineInterpolators

class sdurw_trajectory.sdurw_trajectory.CubicSplineInterpolatorQ(a, b, c, d, duration)

Bases: InterpolatorQ

This class represents a 3-degree polynomial function, used in Cubic Splines hence the name CubicSegment.

\(\bf{f}(t)= \bf{a} + \bf{b}\cdot t + \bf{c}\cdot t^2 \bf{d}\cdot t^3\)

__init__(a, b, c, d, duration)

ddx(t)

Notes: The second derivative is a 1-degree polynomial: \(\bf{df}(t)= 2\cdot \bf{c} + 6\cdot \bf{d}\cdot t\)

duration()

Returns the duration of the interpolator

The duration is defined as the time it takes to move from one end of the interpolator to the other. :rtype: float :return: duration

dx(t)

Notes: The derivative is a 2-degree polynomial: \(\bf{df}(t)= \bf{b} + 2\cdot \bf{c}\cdot t + 3\cdot \bf{d}\cdot t^2\)

property thisown

The membership flag

x(t)

Notes: The cubic polynomial is given by a 3-degree polynomial: \(\bf{f}(t)= \bf{a} + \bf{b}\cdot t + \bf{c}\cdot t^2 \bf{d}\cdot t^3\)

class sdurw_trajectory.sdurw_trajectory.CubicSplineInterpolatorQCPtr(*args)

Bases: object

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

__init__(*args)

Overload 1:

Default constructor yielding a NULL-pointer.

Overload 2:

Do not take ownership of ptr.

ptr can be null.

The constructor is implicit on purpose.

ddx(t)

Notes: The second derivative is a 1-degree polynomial: \(\bf{df}(t)= 2\cdot \bf{c} + 6\cdot \bf{d}\cdot t\)

deref()

The pointer stored in the object.

duration()

dx(t)

Notes: The derivative is a 2-degree polynomial: \(\bf{df}(t)= \bf{b} + 2\cdot \bf{c}\cdot t + 3\cdot \bf{d}\cdot t^2\)

getDeref()

Member access operator.

isNull()

checks if the pointer is null :rtype: boolean :return: Returns true if the pointer is null

isShared()

check if this Ptr has shared ownership or none ownership :rtype: boolean :return: true if Ptr has shared ownership, false if it has no ownership.

property thisown

The membership flag

x(t)

Notes: The cubic polynomial is given by a 3-degree polynomial: \(\bf{f}(t)= \bf{a} + \bf{b}\cdot t + \bf{c}\cdot t^2 \bf{d}\cdot t^3\)

class sdurw_trajectory.sdurw_trajectory.CubicSplineInterpolatorQPtr(*args)

Bases: object

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

__init__(*args)

Overload 1:

Default constructor yielding a NULL-pointer.

Overload 2:

Do not take ownership of ptr.

ptr can be null.

The constructor is implicit on purpose.

cptr()

ddx(t)

Notes: The second derivative is a 1-degree polynomial: \(\bf{df}(t)= 2\cdot \bf{c} + 6\cdot \bf{d}\cdot t\)

deref()

The pointer stored in the object.

duration()

dx(t)

Notes: The derivative is a 2-degree polynomial: \(\bf{df}(t)= \bf{b} + 2\cdot \bf{c}\cdot t + 3\cdot \bf{d}\cdot t^2\)

getDeref()

Member access operator.

isNull()

checks if the pointer is null :rtype: boolean :return: Returns true if the pointer is null

isShared()

check if this Ptr has shared ownership or none ownership :rtype: boolean :return: true if Ptr has shared ownership, false if it has no ownership.

property thisown

The membership flag

x(t)

Notes: The cubic polynomial is given by a 3-degree polynomial: \(\bf{f}(t)= \bf{a} + \bf{b}\cdot t + \bf{c}\cdot t^2 \bf{d}\cdot t^3\)

sdurw_trajectory.sdurw_trajectory.CubicSplineInterpolatorR1

alias of CubicSplineInterpolator_d

sdurw_trajectory.sdurw_trajectory.CubicSplineInterpolatorR2

alias of CubicSplineInterpolatorVector2D

sdurw_trajectory.sdurw_trajectory.CubicSplineInterpolatorR3

alias of CubicSplineInterpolatorVector3D

class sdurw_trajectory.sdurw_trajectory.CubicSplineInterpolatorRotation3D(a, b, c, d, duration)

Bases: InterpolatorRotation3D

This class represents a 3-degree polynomial function, used in Cubic Splines hence the name CubicSegment.

\(\bf{f}(t)= \bf{a} + \bf{b}\cdot t + \bf{c}\cdot t^2 \bf{d}\cdot t^3\)

__init__(a, b, c, d, duration)

ddx(t)

Notes: The second derivative is a 1-degree polynomial: \(\bf{df}(t)= 2\cdot \bf{c} + 6\cdot \bf{d}\cdot t\)

duration()

Returns the duration of the interpolator

The duration is defined as the time it takes to move from one end of the interpolator to the other. :rtype: float :return: duration

dx(t)

Notes: The derivative is a 2-degree polynomial: \(\bf{df}(t)= \bf{b} + 2\cdot \bf{c}\cdot t + 3\cdot \bf{d}\cdot t^2\)

property thisown

The membership flag

x(t)

Notes: The cubic polynomial is given by a 3-degree polynomial: \(\bf{f}(t)= \bf{a} + \bf{b}\cdot t + \bf{c}\cdot t^2 \bf{d}\cdot t^3\)

class sdurw_trajectory.sdurw_trajectory.CubicSplineInterpolatorRotation3DCPtr(*args)

Bases: object

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

__init__(*args)

Overload 1:

Default constructor yielding a NULL-pointer.

Overload 2:

Do not take ownership of ptr.

ptr can be null.

The constructor is implicit on purpose.

ddx(t)

Notes: The second derivative is a 1-degree polynomial: \(\bf{df}(t)= 2\cdot \bf{c} + 6\cdot \bf{d}\cdot t\)

deref()

The pointer stored in the object.

duration()

dx(t)

Notes: The derivative is a 2-degree polynomial: \(\bf{df}(t)= \bf{b} + 2\cdot \bf{c}\cdot t + 3\cdot \bf{d}\cdot t^2\)

getDeref()

Member access operator.

isNull()

checks if the pointer is null :rtype: boolean :return: Returns true if the pointer is null

isShared()

check if this Ptr has shared ownership or none ownership :rtype: boolean :return: true if Ptr has shared ownership, false if it has no ownership.

property thisown

The membership flag

x(t)

Notes: The cubic polynomial is given by a 3-degree polynomial: \(\bf{f}(t)= \bf{a} + \bf{b}\cdot t + \bf{c}\cdot t^2 \bf{d}\cdot t^3\)

class sdurw_trajectory.sdurw_trajectory.CubicSplineInterpolatorRotation3DPtr(*args)

Bases: object

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

__init__(*args)

Overload 1:

Default constructor yielding a NULL-pointer.

Overload 2:

Do not take ownership of ptr.

ptr can be null.

The constructor is implicit on purpose.

cptr()

ddx(t)

Notes: The second derivative is a 1-degree polynomial: \(\bf{df}(t)= 2\cdot \bf{c} + 6\cdot \bf{d}\cdot t\)

deref()

The pointer stored in the object.

duration()

dx(t)

Notes: The derivative is a 2-degree polynomial: \(\bf{df}(t)= \bf{b} + 2\cdot \bf{c}\cdot t + 3\cdot \bf{d}\cdot t^2\)

getDeref()

Member access operator.

isNull()

checks if the pointer is null :rtype: boolean :return: Returns true if the pointer is null

isShared()

check if this Ptr has shared ownership or none ownership :rtype: boolean :return: true if Ptr has shared ownership, false if it has no ownership.

property thisown

The membership flag

x(t)

Notes: The cubic polynomial is given by a 3-degree polynomial: \(\bf{f}(t)= \bf{a} + \bf{b}\cdot t + \bf{c}\cdot t^2 \bf{d}\cdot t^3\)

class sdurw_trajectory.sdurw_trajectory.CubicSplineInterpolatorRotation3D_f(a, b, c, d, duration)

Bases: InterpolatorRotation3D_f

This class represents a 3-degree polynomial function, used in Cubic Splines hence the name CubicSegment.

\(\bf{f}(t)= \bf{a} + \bf{b}\cdot t + \bf{c}\cdot t^2 \bf{d}\cdot t^3\)

__init__(a, b, c, d, duration)

ddx(t)

Notes: The second derivative is a 1-degree polynomial: \(\bf{df}(t)= 2\cdot \bf{c} + 6\cdot \bf{d}\cdot t\)

duration()

Returns the duration of the interpolator

The duration is defined as the time it takes to move from one end of the interpolator to the other. :rtype: float :return: duration

dx(t)

Notes: The derivative is a 2-degree polynomial: \(\bf{df}(t)= \bf{b} + 2\cdot \bf{c}\cdot t + 3\cdot \bf{d}\cdot t^2\)

property thisown

The membership flag

x(t)

Notes: The cubic polynomial is given by a 3-degree polynomial: \(\bf{f}(t)= \bf{a} + \bf{b}\cdot t + \bf{c}\cdot t^2 \bf{d}\cdot t^3\)

class sdurw_trajectory.sdurw_trajectory.CubicSplineInterpolatorRotation3D_fCPtr(*args)

Bases: object

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

__init__(*args)

Overload 1:

Default constructor yielding a NULL-pointer.

Overload 2:

Do not take ownership of ptr.

ptr can be null.

The constructor is implicit on purpose.

ddx(t)

Notes: The second derivative is a 1-degree polynomial: \(\bf{df}(t)= 2\cdot \bf{c} + 6\cdot \bf{d}\cdot t\)

deref()

The pointer stored in the object.

duration()

dx(t)

Notes: The derivative is a 2-degree polynomial: \(\bf{df}(t)= \bf{b} + 2\cdot \bf{c}\cdot t + 3\cdot \bf{d}\cdot t^2\)

getDeref()

Member access operator.

isNull()

checks if the pointer is null :rtype: boolean :return: Returns true if the pointer is null

isShared()

check if this Ptr has shared ownership or none ownership :rtype: boolean :return: true if Ptr has shared ownership, false if it has no ownership.

property thisown

The membership flag

x(t)

Notes: The cubic polynomial is given by a 3-degree polynomial: \(\bf{f}(t)= \bf{a} + \bf{b}\cdot t + \bf{c}\cdot t^2 \bf{d}\cdot t^3\)

class sdurw_trajectory.sdurw_trajectory.CubicSplineInterpolatorRotation3D_fPtr(*args)

Bases: object

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

__init__(*args)

Overload 1:

Default constructor yielding a NULL-pointer.

Overload 2:

Do not take ownership of ptr.

ptr can be null.

The constructor is implicit on purpose.

cptr()

ddx(t)

Notes: The second derivative is a 1-degree polynomial: \(\bf{df}(t)= 2\cdot \bf{c} + 6\cdot \bf{d}\cdot t\)

deref()

The pointer stored in the object.

duration()

dx(t)

Notes: The derivative is a 2-degree polynomial: \(\bf{df}(t)= \bf{b} + 2\cdot \bf{c}\cdot t + 3\cdot \bf{d}\cdot t^2\)

getDeref()

Member access operator.

isNull()

checks if the pointer is null :rtype: boolean :return: Returns true if the pointer is null

isShared()

check if this Ptr has shared ownership or none ownership :rtype: boolean :return: true if Ptr has shared ownership, false if it has no ownership.

property thisown

The membership flag

x(t)

Notes: The cubic polynomial is given by a 3-degree polynomial: \(\bf{f}(t)= \bf{a} + \bf{b}\cdot t + \bf{c}\cdot t^2 \bf{d}\cdot t^3\)

sdurw_trajectory.sdurw_trajectory.CubicSplineInterpolatorSE3

alias of CubicSplineInterpolatorTransform3D

sdurw_trajectory.sdurw_trajectory.CubicSplineInterpolatorSO3

alias of CubicSplineInterpolatorRotation3D

class sdurw_trajectory.sdurw_trajectory.CubicSplineInterpolatorTransform3D(a, b, c, d, duration)

Bases: InterpolatorTransform3D

This class represents a 3-degree polynomial function, used in Cubic Splines hence the name CubicSegment.

\(\bf{f}(t)= \bf{a} + \bf{b}\cdot t + \bf{c}\cdot t^2 \bf{d}\cdot t^3\)

__init__(a, b, c, d, duration)

ddx(t)

Notes: The second derivative is a 1-degree polynomial: \(\bf{df}(t)= 2\cdot \bf{c} + 6\cdot \bf{d}\cdot t\)

duration()

Returns the duration of the interpolator

The duration is defined as the time it takes to move from one end of the interpolator to the other. :rtype: float :return: duration

dx(t)

Notes: The derivative is a 2-degree polynomial: \(\bf{df}(t)= \bf{b} + 2\cdot \bf{c}\cdot t + 3\cdot \bf{d}\cdot t^2\)

property thisown

The membership flag

x(t)

Notes: The cubic polynomial is given by a 3-degree polynomial: \(\bf{f}(t)= \bf{a} + \bf{b}\cdot t + \bf{c}\cdot t^2 \bf{d}\cdot t^3\)

class sdurw_trajectory.sdurw_trajectory.CubicSplineInterpolatorTransform3DCPtr(*args)

Bases: object

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

__init__(*args)

Overload 1:

Default constructor yielding a NULL-pointer.

Overload 2:

Do not take ownership of ptr.

ptr can be null.

The constructor is implicit on purpose.

ddx(t)

Notes: The second derivative is a 1-degree polynomial: \(\bf{df}(t)= 2\cdot \bf{c} + 6\cdot \bf{d}\cdot t\)

deref()

The pointer stored in the object.

duration()

dx(t)

Notes: The derivative is a 2-degree polynomial: \(\bf{df}(t)= \bf{b} + 2\cdot \bf{c}\cdot t + 3\cdot \bf{d}\cdot t^2\)

getDeref()

Member access operator.

isNull()

checks if the pointer is null :rtype: boolean :return: Returns true if the pointer is null

isShared()

check if this Ptr has shared ownership or none ownership :rtype: boolean :return: true if Ptr has shared ownership, false if it has no ownership.

property thisown

The membership flag

x(t)

Notes: The cubic polynomial is given by a 3-degree polynomial: \(\bf{f}(t)= \bf{a} + \bf{b}\cdot t + \bf{c}\cdot t^2 \bf{d}\cdot t^3\)

class sdurw_trajectory.sdurw_trajectory.CubicSplineInterpolatorTransform3DPtr(*args)

Bases: object

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

__init__(*args)

Overload 1:

Default constructor yielding a NULL-pointer.

Overload 2:

Do not take ownership of ptr.

ptr can be null.

The constructor is implicit on purpose.

cptr()

ddx(t)

Notes: The second derivative is a 1-degree polynomial: \(\bf{df}(t)= 2\cdot \bf{c} + 6\cdot \bf{d}\cdot t\)

deref()

The pointer stored in the object.

duration()

dx(t)

Notes: The derivative is a 2-degree polynomial: \(\bf{df}(t)= \bf{b} + 2\cdot \bf{c}\cdot t + 3\cdot \bf{d}\cdot t^2\)

getDeref()

Member access operator.

isNull()

checks if the pointer is null :rtype: boolean :return: Returns true if the pointer is null

isShared()

check if this Ptr has shared ownership or none ownership :rtype: boolean :return: true if Ptr has shared ownership, false if it has no ownership.

property thisown

The membership flag

x(t)

Notes: The cubic polynomial is given by a 3-degree polynomial: \(\bf{f}(t)= \bf{a} + \bf{b}\cdot t + \bf{c}\cdot t^2 \bf{d}\cdot t^3\)

class sdurw_trajectory.sdurw_trajectory.CubicSplineInterpolatorTransform3DVector(a, b, c, d, duration)

Bases: InterpolatorTransform3DVector

This class represents a 3-degree polynomial function, used in Cubic Splines hence the name CubicSegment.

\(\bf{f}(t)= \bf{a} + \bf{b}\cdot t + \bf{c}\cdot t^2 \bf{d}\cdot t^3\)

__init__(a, b, c, d, duration)

ddx(t)

Notes: The second derivative is a 1-degree polynomial: \(\bf{df}(t)= 2\cdot \bf{c} + 6\cdot \bf{d}\cdot t\)

duration()

Returns the duration of the interpolator

The duration is defined as the time it takes to move from one end of the interpolator to the other. :rtype: float :return: duration

dx(t)

Notes: The derivative is a 2-degree polynomial: \(\bf{df}(t)= \bf{b} + 2\cdot \bf{c}\cdot t + 3\cdot \bf{d}\cdot t^2\)

property thisown

The membership flag

x(t)

Notes: The cubic polynomial is given by a 3-degree polynomial: \(\bf{f}(t)= \bf{a} + \bf{b}\cdot t + \bf{c}\cdot t^2 \bf{d}\cdot t^3\)

class sdurw_trajectory.sdurw_trajectory.CubicSplineInterpolatorTransform3D_f(a, b, c, d, duration)

Bases: InterpolatorTransform3D_f

This class represents a 3-degree polynomial function, used in Cubic Splines hence the name CubicSegment.

\(\bf{f}(t)= \bf{a} + \bf{b}\cdot t + \bf{c}\cdot t^2 \bf{d}\cdot t^3\)

__init__(a, b, c, d, duration)

ddx(t)

Notes: The second derivative is a 1-degree polynomial: \(\bf{df}(t)= 2\cdot \bf{c} + 6\cdot \bf{d}\cdot t\)

duration()

Returns the duration of the interpolator

The duration is defined as the time it takes to move from one end of the interpolator to the other. :rtype: float :return: duration

dx(t)

Notes: The derivative is a 2-degree polynomial: \(\bf{df}(t)= \bf{b} + 2\cdot \bf{c}\cdot t + 3\cdot \bf{d}\cdot t^2\)

property thisown

The membership flag

x(t)

Notes: The cubic polynomial is given by a 3-degree polynomial: \(\bf{f}(t)= \bf{a} + \bf{b}\cdot t + \bf{c}\cdot t^2 \bf{d}\cdot t^3\)

class sdurw_trajectory.sdurw_trajectory.CubicSplineInterpolatorTransform3D_fCPtr(*args)

Bases: object

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

__init__(*args)

Overload 1:

Default constructor yielding a NULL-pointer.

Overload 2:

Do not take ownership of ptr.

ptr can be null.

The constructor is implicit on purpose.

ddx(t)

Notes: The second derivative is a 1-degree polynomial: \(\bf{df}(t)= 2\cdot \bf{c} + 6\cdot \bf{d}\cdot t\)

deref()

The pointer stored in the object.

duration()

dx(t)

Notes: The derivative is a 2-degree polynomial: \(\bf{df}(t)= \bf{b} + 2\cdot \bf{c}\cdot t + 3\cdot \bf{d}\cdot t^2\)

getDeref()

Member access operator.

isNull()

checks if the pointer is null :rtype: boolean :return: Returns true if the pointer is null

isShared()

check if this Ptr has shared ownership or none ownership :rtype: boolean :return: true if Ptr has shared ownership, false if it has no ownership.

property thisown

The membership flag

x(t)

Notes: The cubic polynomial is given by a 3-degree polynomial: \(\bf{f}(t)= \bf{a} + \bf{b}\cdot t + \bf{c}\cdot t^2 \bf{d}\cdot t^3\)

class sdurw_trajectory.sdurw_trajectory.CubicSplineInterpolatorTransform3D_fPtr(*args)

Bases: object

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

__init__(*args)

Overload 1:

Default constructor yielding a NULL-pointer.

Overload 2:

Do not take ownership of ptr.

ptr can be null.

The constructor is implicit on purpose.

cptr()

ddx(t)

Notes: The second derivative is a 1-degree polynomial: \(\bf{df}(t)= 2\cdot \bf{c} + 6\cdot \bf{d}\cdot t\)

deref()

The pointer stored in the object.

duration()

dx(t)

Notes: The derivative is a 2-degree polynomial: \(\bf{df}(t)= \bf{b} + 2\cdot \bf{c}\cdot t + 3\cdot \bf{d}\cdot t^2\)

getDeref()

Member access operator.

isNull()

checks if the pointer is null :rtype: boolean :return: Returns true if the pointer is null

isShared()

check if this Ptr has shared ownership or none ownership :rtype: boolean :return: true if Ptr has shared ownership, false if it has no ownership.

property thisown

The membership flag

x(t)

Notes: The cubic polynomial is given by a 3-degree polynomial: \(\bf{f}(t)= \bf{a} + \bf{b}\cdot t + \bf{c}\cdot t^2 \bf{d}\cdot t^3\)

class sdurw_trajectory.sdurw_trajectory.CubicSplineInterpolatorVector2D(a, b, c, d, duration)

Bases: InterpolatorVector2D

This class represents a 3-degree polynomial function, used in Cubic Splines hence the name CubicSegment.

\(\bf{f}(t)= \bf{a} + \bf{b}\cdot t + \bf{c}\cdot t^2 \bf{d}\cdot t^3\)

__init__(a, b, c, d, duration)

ddx(t)

Notes: The second derivative is a 1-degree polynomial: \(\bf{df}(t)= 2\cdot \bf{c} + 6\cdot \bf{d}\cdot t\)

duration()

Returns the duration of the interpolator

The duration is defined as the time it takes to move from one end of the interpolator to the other. :rtype: float :return: duration

dx(t)

Notes: The derivative is a 2-degree polynomial: \(\bf{df}(t)= \bf{b} + 2\cdot \bf{c}\cdot t + 3\cdot \bf{d}\cdot t^2\)

property thisown

The membership flag

x(t)

Notes: The cubic polynomial is given by a 3-degree polynomial: \(\bf{f}(t)= \bf{a} + \bf{b}\cdot t + \bf{c}\cdot t^2 \bf{d}\cdot t^3\)

class sdurw_trajectory.sdurw_trajectory.CubicSplineInterpolatorVector2DCPtr(*args)

Bases: object

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

__init__(*args)

Overload 1:

Default constructor yielding a NULL-pointer.

Overload 2:

Do not take ownership of ptr.

ptr can be null.

The constructor is implicit on purpose.

ddx(t)

Notes: The second derivative is a 1-degree polynomial: \(\bf{df}(t)= 2\cdot \bf{c} + 6\cdot \bf{d}\cdot t\)

deref()

The pointer stored in the object.

duration()

dx(t)

Notes: The derivative is a 2-degree polynomial: \(\bf{df}(t)= \bf{b} + 2\cdot \bf{c}\cdot t + 3\cdot \bf{d}\cdot t^2\)

getDeref()

Member access operator.

isNull()

checks if the pointer is null :rtype: boolean :return: Returns true if the pointer is null

isShared()

check if this Ptr has shared ownership or none ownership :rtype: boolean :return: true if Ptr has shared ownership, false if it has no ownership.

property thisown

The membership flag

x(t)

Notes: The cubic polynomial is given by a 3-degree polynomial: \(\bf{f}(t)= \bf{a} + \bf{b}\cdot t + \bf{c}\cdot t^2 \bf{d}\cdot t^3\)

class sdurw_trajectory.sdurw_trajectory.CubicSplineInterpolatorVector2DPtr(*args)

Bases: object

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

__init__(*args)

Overload 1:

Default constructor yielding a NULL-pointer.

Overload 2:

Do not take ownership of ptr.

ptr can be null.

The constructor is implicit on purpose.

cptr()

ddx(t)

Notes: The second derivative is a 1-degree polynomial: \(\bf{df}(t)= 2\cdot \bf{c} + 6\cdot \bf{d}\cdot t\)

deref()

The pointer stored in the object.

duration()

dx(t)

Notes: The derivative is a 2-degree polynomial: \(\bf{df}(t)= \bf{b} + 2\cdot \bf{c}\cdot t + 3\cdot \bf{d}\cdot t^2\)

getDeref()

Member access operator.

isNull()

checks if the pointer is null :rtype: boolean :return: Returns true if the pointer is null

isShared()

check if this Ptr has shared ownership or none ownership :rtype: boolean :return: true if Ptr has shared ownership, false if it has no ownership.

property thisown

The membership flag

x(t)

Notes: The cubic polynomial is given by a 3-degree polynomial: \(\bf{f}(t)= \bf{a} + \bf{b}\cdot t + \bf{c}\cdot t^2 \bf{d}\cdot t^3\)

class sdurw_trajectory.sdurw_trajectory.CubicSplineInterpolatorVector2D_f(a, b, c, d, duration)

Bases: InterpolatorVector2D_f

This class represents a 3-degree polynomial function, used in Cubic Splines hence the name CubicSegment.

\(\bf{f}(t)= \bf{a} + \bf{b}\cdot t + \bf{c}\cdot t^2 \bf{d}\cdot t^3\)

__init__(a, b, c, d, duration)

ddx(t)

Notes: The second derivative is a 1-degree polynomial: \(\bf{df}(t)= 2\cdot \bf{c} + 6\cdot \bf{d}\cdot t\)

duration()

Returns the duration of the interpolator

The duration is defined as the time it takes to move from one end of the interpolator to the other. :rtype: float :return: duration

dx(t)

Notes: The derivative is a 2-degree polynomial: \(\bf{df}(t)= \bf{b} + 2\cdot \bf{c}\cdot t + 3\cdot \bf{d}\cdot t^2\)

property thisown

The membership flag

x(t)

Notes: The cubic polynomial is given by a 3-degree polynomial: \(\bf{f}(t)= \bf{a} + \bf{b}\cdot t + \bf{c}\cdot t^2 \bf{d}\cdot t^3\)

class sdurw_trajectory.sdurw_trajectory.CubicSplineInterpolatorVector2D_fCPtr(*args)

Bases: object

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

__init__(*args)

Overload 1:

Default constructor yielding a NULL-pointer.

Overload 2:

Do not take ownership of ptr.

ptr can be null.

The constructor is implicit on purpose.

ddx(t)

Notes: The second derivative is a 1-degree polynomial: \(\bf{df}(t)= 2\cdot \bf{c} + 6\cdot \bf{d}\cdot t\)

deref()

The pointer stored in the object.

duration()

dx(t)

Notes: The derivative is a 2-degree polynomial: \(\bf{df}(t)= \bf{b} + 2\cdot \bf{c}\cdot t + 3\cdot \bf{d}\cdot t^2\)

getDeref()

Member access operator.

isNull()

checks if the pointer is null :rtype: boolean :return: Returns true if the pointer is null

isShared()

check if this Ptr has shared ownership or none ownership :rtype: boolean :return: true if Ptr has shared ownership, false if it has no ownership.

property thisown

The membership flag

x(t)

Notes: The cubic polynomial is given by a 3-degree polynomial: \(\bf{f}(t)= \bf{a} + \bf{b}\cdot t + \bf{c}\cdot t^2 \bf{d}\cdot t^3\)

class sdurw_trajectory.sdurw_trajectory.CubicSplineInterpolatorVector2D_fPtr(*args)

Bases: object

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

__init__(*args)

Overload 1:

Default constructor yielding a NULL-pointer.

Overload 2:

Do not take ownership of ptr.

ptr can be null.

The constructor is implicit on purpose.

cptr()

ddx(t)

Notes: The second derivative is a 1-degree polynomial: \(\bf{df}(t)= 2\cdot \bf{c} + 6\cdot \bf{d}\cdot t\)

deref()

The pointer stored in the object.

duration()

dx(t)

Notes: The derivative is a 2-degree polynomial: \(\bf{df}(t)= \bf{b} + 2\cdot \bf{c}\cdot t + 3\cdot \bf{d}\cdot t^2\)

getDeref()

Member access operator.

isNull()

checks if the pointer is null :rtype: boolean :return: Returns true if the pointer is null

isShared()

check if this Ptr has shared ownership or none ownership :rtype: boolean :return: true if Ptr has shared ownership, false if it has no ownership.

property thisown

The membership flag

x(t)

Notes: The cubic polynomial is given by a 3-degree polynomial: \(\bf{f}(t)= \bf{a} + \bf{b}\cdot t + \bf{c}\cdot t^2 \bf{d}\cdot t^3\)

class sdurw_trajectory.sdurw_trajectory.CubicSplineInterpolatorVector3D(a, b, c, d, duration)

Bases: InterpolatorVector3D

This class represents a 3-degree polynomial function, used in Cubic Splines hence the name CubicSegment.

\(\bf{f}(t)= \bf{a} + \bf{b}\cdot t + \bf{c}\cdot t^2 \bf{d}\cdot t^3\)

__init__(a, b, c, d, duration)

ddx(t)

Notes: The second derivative is a 1-degree polynomial: \(\bf{df}(t)= 2\cdot \bf{c} + 6\cdot \bf{d}\cdot t\)

duration()

Returns the duration of the interpolator

The duration is defined as the time it takes to move from one end of the interpolator to the other. :rtype: float :return: duration

dx(t)

Notes: The derivative is a 2-degree polynomial: \(\bf{df}(t)= \bf{b} + 2\cdot \bf{c}\cdot t + 3\cdot \bf{d}\cdot t^2\)

property thisown

The membership flag

x(t)

Notes: The cubic polynomial is given by a 3-degree polynomial: \(\bf{f}(t)= \bf{a} + \bf{b}\cdot t + \bf{c}\cdot t^2 \bf{d}\cdot t^3\)

class sdurw_trajectory.sdurw_trajectory.CubicSplineInterpolatorVector3DCPtr(*args)

Bases: object

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

__init__(*args)

Overload 1:

Default constructor yielding a NULL-pointer.

Overload 2:

Do not take ownership of ptr.

ptr can be null.

The constructor is implicit on purpose.

ddx(t)

Notes: The second derivative is a 1-degree polynomial: \(\bf{df}(t)= 2\cdot \bf{c} + 6\cdot \bf{d}\cdot t\)

deref()

The pointer stored in the object.

duration()

dx(t)

Notes: The derivative is a 2-degree polynomial: \(\bf{df}(t)= \bf{b} + 2\cdot \bf{c}\cdot t + 3\cdot \bf{d}\cdot t^2\)

getDeref()

Member access operator.

isNull()

checks if the pointer is null :rtype: boolean :return: Returns true if the pointer is null

isShared()

check if this Ptr has shared ownership or none ownership :rtype: boolean :return: true if Ptr has shared ownership, false if it has no ownership.

property thisown

The membership flag

x(t)

Notes: The cubic polynomial is given by a 3-degree polynomial: \(\bf{f}(t)= \bf{a} + \bf{b}\cdot t + \bf{c}\cdot t^2 \bf{d}\cdot t^3\)

class sdurw_trajectory.sdurw_trajectory.CubicSplineInterpolatorVector3DPtr(*args)

Bases: object

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

__init__(*args)

Overload 1:

Default constructor yielding a NULL-pointer.

Overload 2:

Do not take ownership of ptr.

ptr can be null.

The constructor is implicit on purpose.

cptr()

ddx(t)

Notes: The second derivative is a 1-degree polynomial: \(\bf{df}(t)= 2\cdot \bf{c} + 6\cdot \bf{d}\cdot t\)

deref()

The pointer stored in the object.

duration()

dx(t)

Notes: The derivative is a 2-degree polynomial: \(\bf{df}(t)= \bf{b} + 2\cdot \bf{c}\cdot t + 3\cdot \bf{d}\cdot t^2\)

getDeref()

Member access operator.

isNull()

checks if the pointer is null :rtype: boolean :return: Returns true if the pointer is null

isShared()

check if this Ptr has shared ownership or none ownership :rtype: boolean :return: true if Ptr has shared ownership, false if it has no ownership.

property thisown

The membership flag

x(t)

Notes: The cubic polynomial is given by a 3-degree polynomial: \(\bf{f}(t)= \bf{a} + \bf{b}\cdot t + \bf{c}\cdot t^2 \bf{d}\cdot t^3\)

class sdurw_trajectory.sdurw_trajectory.CubicSplineInterpolatorVector3D_f(a, b, c, d, duration)

Bases: InterpolatorVector3D_f

This class represents a 3-degree polynomial function, used in Cubic Splines hence the name CubicSegment.

\(\bf{f}(t)= \bf{a} + \bf{b}\cdot t + \bf{c}\cdot t^2 \bf{d}\cdot t^3\)

__init__(a, b, c, d, duration)

ddx(t)

Notes: The second derivative is a 1-degree polynomial: \(\bf{df}(t)= 2\cdot \bf{c} + 6\cdot \bf{d}\cdot t\)

duration()

Returns the duration of the interpolator

The duration is defined as the time it takes to move from one end of the interpolator to the other. :rtype: float :return: duration

dx(t)

Notes: The derivative is a 2-degree polynomial: \(\bf{df}(t)= \bf{b} + 2\cdot \bf{c}\cdot t + 3\cdot \bf{d}\cdot t^2\)

property thisown

The membership flag

x(t)

Notes: The cubic polynomial is given by a 3-degree polynomial: \(\bf{f}(t)= \bf{a} + \bf{b}\cdot t + \bf{c}\cdot t^2 \bf{d}\cdot t^3\)

class sdurw_trajectory.sdurw_trajectory.CubicSplineInterpolatorVector3D_fCPtr(*args)

Bases: object

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

__init__(*args)

Overload 1:

Default constructor yielding a NULL-pointer.

Overload 2:

Do not take ownership of ptr.

ptr can be null.

The constructor is implicit on purpose.

ddx(t)

Notes: The second derivative is a 1-degree polynomial: \(\bf{df}(t)= 2\cdot \bf{c} + 6\cdot \bf{d}\cdot t\)

deref()

The pointer stored in the object.

duration()

dx(t)

Notes: The derivative is a 2-degree polynomial: \(\bf{df}(t)= \bf{b} + 2\cdot \bf{c}\cdot t + 3\cdot \bf{d}\cdot t^2\)

getDeref()

Member access operator.

isNull()

checks if the pointer is null :rtype: boolean :return: Returns true if the pointer is null

isShared()

check if this Ptr has shared ownership or none ownership :rtype: boolean :return: true if Ptr has shared ownership, false if it has no ownership.

property thisown

The membership flag

x(t)

Notes: The cubic polynomial is given by a 3-degree polynomial: \(\bf{f}(t)= \bf{a} + \bf{b}\cdot t + \bf{c}\cdot t^2 \bf{d}\cdot t^3\)

class sdurw_trajectory.sdurw_trajectory.CubicSplineInterpolatorVector3D_fPtr(*args)

Bases: object

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

__init__(*args)

Overload 1:

Default constructor yielding a NULL-pointer.

Overload 2:

Do not take ownership of ptr.

ptr can be null.

The constructor is implicit on purpose.

cptr()

ddx(t)

Notes: The second derivative is a 1-degree polynomial: \(\bf{df}(t)= 2\cdot \bf{c} + 6\cdot \bf{d}\cdot t\)

deref()

The pointer stored in the object.

duration()

dx(t)

Notes: The derivative is a 2-degree polynomial: \(\bf{df}(t)= \bf{b} + 2\cdot \bf{c}\cdot t + 3\cdot \bf{d}\cdot t^2\)

getDeref()

Member access operator.

isNull()

checks if the pointer is null :rtype: boolean :return: Returns true if the pointer is null

isShared()

check if this Ptr has shared ownership or none ownership :rtype: boolean :return: true if Ptr has shared ownership, false if it has no ownership.

property thisown

The membership flag

x(t)

Notes: The cubic polynomial is given by a 3-degree polynomial: \(\bf{f}(t)= \bf{a} + \bf{b}\cdot t + \bf{c}\cdot t^2 \bf{d}\cdot t^3\)

class sdurw_trajectory.sdurw_trajectory.CubicSplineInterpolator_d(a, b, c, d, duration)

Bases: Interpolator_d

This class represents a 3-degree polynomial function, used in Cubic Splines hence the name CubicSegment.

\(\bf{f}(t)= \bf{a} + \bf{b}\cdot t + \bf{c}\cdot t^2 \bf{d}\cdot t^3\)

__init__(a, b, c, d, duration)

ddx(t)

Notes: The second derivative is a 1-degree polynomial: \(\bf{df}(t)= 2\cdot \bf{c} + 6\cdot \bf{d}\cdot t\)

duration()

Returns the duration of the interpolator

The duration is defined as the time it takes to move from one end of the interpolator to the other. :rtype: float :return: duration

dx(t)

Notes: The derivative is a 2-degree polynomial: \(\bf{df}(t)= \bf{b} + 2\cdot \bf{c}\cdot t + 3\cdot \bf{d}\cdot t^2\)

property thisown

The membership flag

x(t)

Notes: The cubic polynomial is given by a 3-degree polynomial: \(\bf{f}(t)= \bf{a} + \bf{b}\cdot t + \bf{c}\cdot t^2 \bf{d}\cdot t^3\)

class sdurw_trajectory.sdurw_trajectory.CubicSplineInterpolator_dCPtr(*args)

Bases: object

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

__init__(*args)

Overload 1:

Default constructor yielding a NULL-pointer.

Overload 2:

Do not take ownership of ptr.

ptr can be null.

The constructor is implicit on purpose.

ddx(t)

Notes: The second derivative is a 1-degree polynomial: \(\bf{df}(t)= 2\cdot \bf{c} + 6\cdot \bf{d}\cdot t\)

deref()

The pointer stored in the object.

duration()

dx(t)

Notes: The derivative is a 2-degree polynomial: \(\bf{df}(t)= \bf{b} + 2\cdot \bf{c}\cdot t + 3\cdot \bf{d}\cdot t^2\)

getDeref()

Member access operator.

isNull()

checks if the pointer is null :rtype: boolean :return: Returns true if the pointer is null

isShared()

check if this Ptr has shared ownership or none ownership :rtype: boolean :return: true if Ptr has shared ownership, false if it has no ownership.

property thisown

The membership flag

x(t)

Notes: The cubic polynomial is given by a 3-degree polynomial: \(\bf{f}(t)= \bf{a} + \bf{b}\cdot t + \bf{c}\cdot t^2 \bf{d}\cdot t^3\)

class sdurw_trajectory.sdurw_trajectory.CubicSplineInterpolator_dPtr(*args)

Bases: object

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

__init__(*args)

Overload 1:

Default constructor yielding a NULL-pointer.

Overload 2:

Do not take ownership of ptr.

ptr can be null.

The constructor is implicit on purpose.

cptr()

ddx(t)

Notes: The second derivative is a 1-degree polynomial: \(\bf{df}(t)= 2\cdot \bf{c} + 6\cdot \bf{d}\cdot t\)

deref()

The pointer stored in the object.

duration()

dx(t)

Notes: The derivative is a 2-degree polynomial: \(\bf{df}(t)= \bf{b} + 2\cdot \bf{c}\cdot t + 3\cdot \bf{d}\cdot t^2\)

getDeref()

Member access operator.

isNull()

checks if the pointer is null :rtype: boolean :return: Returns true if the pointer is null

isShared()

check if this Ptr has shared ownership or none ownership :rtype: boolean :return: true if Ptr has shared ownership, false if it has no ownership.

property thisown

The membership flag

x(t)

Notes: The cubic polynomial is given by a 3-degree polynomial: \(\bf{f}(t)= \bf{a} + \bf{b}\cdot t + \bf{c}\cdot t^2 \bf{d}\cdot t^3\)

class sdurw_trajectory.sdurw_trajectory.CubicSplineInterpolator_d_f(a, b, c, d, duration)

Bases: Interpolator_d_f

This class represents a 3-degree polynomial function, used in Cubic Splines hence the name CubicSegment.

\(\bf{f}(t)= \bf{a} + \bf{b}\cdot t + \bf{c}\cdot t^2 \bf{d}\cdot t^3\)

__init__(a, b, c, d, duration)

ddx(t)

Notes: The second derivative is a 1-degree polynomial: \(\bf{df}(t)= 2\cdot \bf{c} + 6\cdot \bf{d}\cdot t\)

duration()

Returns the duration of the interpolator

The duration is defined as the time it takes to move from one end of the interpolator to the other. :rtype: float :return: duration

dx(t)

Notes: The derivative is a 2-degree polynomial: \(\bf{df}(t)= \bf{b} + 2\cdot \bf{c}\cdot t + 3\cdot \bf{d}\cdot t^2\)

property thisown

The membership flag

x(t)

Notes: The cubic polynomial is given by a 3-degree polynomial: \(\bf{f}(t)= \bf{a} + \bf{b}\cdot t + \bf{c}\cdot t^2 \bf{d}\cdot t^3\)

class sdurw_trajectory.sdurw_trajectory.CubicSplineInterpolator_d_fCPtr(*args)

Bases: object

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

__init__(*args)

Overload 1:

Default constructor yielding a NULL-pointer.

Overload 2:

Do not take ownership of ptr.

ptr can be null.

The constructor is implicit on purpose.

ddx(t)

Notes: The second derivative is a 1-degree polynomial: \(\bf{df}(t)= 2\cdot \bf{c} + 6\cdot \bf{d}\cdot t\)

deref()

The pointer stored in the object.

duration()

dx(t)

Notes: The derivative is a 2-degree polynomial: \(\bf{df}(t)= \bf{b} + 2\cdot \bf{c}\cdot t + 3\cdot \bf{d}\cdot t^2\)

getDeref()

Member access operator.

isNull()

checks if the pointer is null :rtype: boolean :return: Returns true if the pointer is null

isShared()

check if this Ptr has shared ownership or none ownership :rtype: boolean :return: true if Ptr has shared ownership, false if it has no ownership.

property thisown

The membership flag

x(t)

Notes: The cubic polynomial is given by a 3-degree polynomial: \(\bf{f}(t)= \bf{a} + \bf{b}\cdot t + \bf{c}\cdot t^2 \bf{d}\cdot t^3\)

class sdurw_trajectory.sdurw_trajectory.CubicSplineInterpolator_d_fPtr(*args)

Bases: object

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

__init__(*args)

Overload 1:

Default constructor yielding a NULL-pointer.

Overload 2:

Do not take ownership of ptr.

ptr can be null.

The constructor is implicit on purpose.

cptr()

ddx(t)

Notes: The second derivative is a 1-degree polynomial: \(\bf{df}(t)= 2\cdot \bf{c} + 6\cdot \bf{d}\cdot t\)

deref()

The pointer stored in the object.

duration()

dx(t)

Notes: The derivative is a 2-degree polynomial: \(\bf{df}(t)= \bf{b} + 2\cdot \bf{c}\cdot t + 3\cdot \bf{d}\cdot t^2\)

getDeref()

Member access operator.

isNull()

checks if the pointer is null :rtype: boolean :return: Returns true if the pointer is null

isShared()

check if this Ptr has shared ownership or none ownership :rtype: boolean :return: true if Ptr has shared ownership, false if it has no ownership.

property thisown

The membership flag

x(t)

Notes: The cubic polynomial is given by a 3-degree polynomial: \(\bf{f}(t)= \bf{a} + \bf{b}\cdot t + \bf{c}\cdot t^2 \bf{d}\cdot t^3\)

class sdurw_trajectory.sdurw_trajectory.InterpolatorQ(*args, **kwargs)

Bases: object

Interface for interpolators

See the specific implementations for more details

__init__(*args, **kwargs)

ddx(t)

Acceleration at time t :type t: float :param t: [in] time between 0 and length :rtype: Q :return: Acceleration

duration()

Returns the duration of the interpolator

The duration is defined as the time it takes to move from one end of the interpolator to the other. :rtype: float :return: duration

dx(t)

Velocity at time t :type t: float :param t: [in] time between 0 and length :rtype: Q :return: Velocity

property thisown

The membership flag

x(t)

Position at time t :type t: float :param t: [in] time between 0 and length :rtype: Q :return: Position

class sdurw_trajectory.sdurw_trajectory.InterpolatorQCPtr(*args)

Bases: object

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

__init__(*args)

Overload 1:

Default constructor yielding a NULL-pointer.

Overload 2:

Do not take ownership of ptr.

ptr can be null.

The constructor is implicit on purpose.

ddx(t)

Acceleration at time t :type t: float :param t: [in] time between 0 and length :rtype: Q :return: Acceleration

deref()

The pointer stored in the object.

duration()

Returns the duration of the interpolator

The duration is defined as the time it takes to move from one end of the interpolator to the other. :rtype: float :return: duration

dx(t)

Velocity at time t :type t: float :param t: [in] time between 0 and length :rtype: Q :return: Velocity

getDeref()

Member access operator.

isNull()

checks if the pointer is null :rtype: boolean :return: Returns true if the pointer is null

isShared()

check if this Ptr has shared ownership or none ownership :rtype: boolean :return: true if Ptr has shared ownership, false if it has no ownership.

property thisown

The membership flag

x(t)

Position at time t :type t: float :param t: [in] time between 0 and length :rtype: Q :return: Position

class sdurw_trajectory.sdurw_trajectory.InterpolatorQPtr(*args)

Bases: object

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

__init__(*args)

Overload 1:

Default constructor yielding a NULL-pointer.

Overload 2:

Do not take ownership of ptr.

ptr can be null.

The constructor is implicit on purpose.

cptr()

ddx(t)

Acceleration at time t :type t: float :param t: [in] time between 0 and length :rtype: Q :return: Acceleration

deref()

The pointer stored in the object.

duration()

Returns the duration of the interpolator

The duration is defined as the time it takes to move from one end of the interpolator to the other. :rtype: float :return: duration

dx(t)

Velocity at time t :type t: float :param t: [in] time between 0 and length :rtype: Q :return: Velocity

getDeref()

Member access operator.

isNull()

checks if the pointer is null :rtype: boolean :return: Returns true if the pointer is null

isShared()

check if this Ptr has shared ownership or none ownership :rtype: boolean :return: true if Ptr has shared ownership, false if it has no ownership.

property thisown

The membership flag

x(t)

Position at time t :type t: float :param t: [in] time between 0 and length :rtype: Q :return: Position

sdurw_trajectory.sdurw_trajectory.InterpolatorR1

alias of Interpolator_d

sdurw_trajectory.sdurw_trajectory.InterpolatorR2

alias of InterpolatorVector2D

sdurw_trajectory.sdurw_trajectory.InterpolatorR3

alias of InterpolatorVector3D

class sdurw_trajectory.sdurw_trajectory.InterpolatorRotation3D(*args, **kwargs)

Bases: object

Interface for interpolators

See the specific implementations for more details

__init__(*args, **kwargs)

ddx(t)

Acceleration at time t :type t: float :param t: [in] time between 0 and length :rtype: rw::math::Rotation3D< double > :return: Acceleration

duration()

Returns the duration of the interpolator

The duration is defined as the time it takes to move from one end of the interpolator to the other. :rtype: float :return: duration

dx(t)

Velocity at time t :type t: float :param t: [in] time between 0 and length :rtype: rw::math::Rotation3D< double > :return: Velocity

property thisown

The membership flag

x(t)

Position at time t :type t: float :param t: [in] time between 0 and length :rtype: rw::math::Rotation3D< double > :return: Position

class sdurw_trajectory.sdurw_trajectory.InterpolatorRotation3DCPtr(*args)

Bases: object

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

__init__(*args)

Overload 1:

Default constructor yielding a NULL-pointer.

Overload 2:

Do not take ownership of ptr.

ptr can be null.

The constructor is implicit on purpose.

ddx(t)

Acceleration at time t :type t: float :param t: [in] time between 0 and length :rtype: rw::math::Rotation3D< double > :return: Acceleration

deref()

The pointer stored in the object.

duration()

Returns the duration of the interpolator

The duration is defined as the time it takes to move from one end of the interpolator to the other. :rtype: float :return: duration

dx(t)

Velocity at time t :type t: float :param t: [in] time between 0 and length :rtype: rw::math::Rotation3D< double > :return: Velocity

getDeref()

Member access operator.

isNull()

checks if the pointer is null :rtype: boolean :return: Returns true if the pointer is null

isShared()

check if this Ptr has shared ownership or none ownership :rtype: boolean :return: true if Ptr has shared ownership, false if it has no ownership.

property thisown

The membership flag

x(t)

Position at time t :type t: float :param t: [in] time between 0 and length :rtype: rw::math::Rotation3D< double > :return: Position

class sdurw_trajectory.sdurw_trajectory.InterpolatorRotation3DPtr(*args)

Bases: object

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

__init__(*args)

Overload 1:

Default constructor yielding a NULL-pointer.

Overload 2:

Do not take ownership of ptr.

ptr can be null.

The constructor is implicit on purpose.

cptr()

ddx(t)

Acceleration at time t :type t: float :param t: [in] time between 0 and length :rtype: rw::math::Rotation3D< double > :return: Acceleration

deref()

The pointer stored in the object.

duration()

Returns the duration of the interpolator

The duration is defined as the time it takes to move from one end of the interpolator to the other. :rtype: float :return: duration

dx(t)

Velocity at time t :type t: float :param t: [in] time between 0 and length :rtype: rw::math::Rotation3D< double > :return: Velocity

getDeref()

Member access operator.

isNull()

checks if the pointer is null :rtype: boolean :return: Returns true if the pointer is null

isShared()

check if this Ptr has shared ownership or none ownership :rtype: boolean :return: true if Ptr has shared ownership, false if it has no ownership.

property thisown

The membership flag

x(t)

Position at time t :type t: float :param t: [in] time between 0 and length :rtype: rw::math::Rotation3D< double > :return: Position

class sdurw_trajectory.sdurw_trajectory.InterpolatorRotation3D_f(*args, **kwargs)

Bases: object

Interface for interpolators

See the specific implementations for more details

__init__(*args, **kwargs)

ddx(t)

Acceleration at time t :type t: float :param t: [in] time between 0 and length :rtype: rw::math::Rotation3D< float > :return: Acceleration

duration()

Returns the duration of the interpolator

The duration is defined as the time it takes to move from one end of the interpolator to the other. :rtype: float :return: duration

dx(t)

Velocity at time t :type t: float :param t: [in] time between 0 and length :rtype: rw::math::Rotation3D< float > :return: Velocity

property thisown

The membership flag

x(t)

Position at time t :type t: float :param t: [in] time between 0 and length :rtype: rw::math::Rotation3D< float > :return: Position

class sdurw_trajectory.sdurw_trajectory.InterpolatorRotation3D_fCPtr(*args)

Bases: object

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

__init__(*args)

Overload 1:

Default constructor yielding a NULL-pointer.

Overload 2:

Do not take ownership of ptr.

ptr can be null.

The constructor is implicit on purpose.

ddx(t)

Acceleration at time t :type t: float :param t: [in] time between 0 and length :rtype: rw::math::Rotation3D< float > :return: Acceleration

deref()

The pointer stored in the object.

duration()

Returns the duration of the interpolator

The duration is defined as the time it takes to move from one end of the interpolator to the other. :rtype: float :return: duration

dx(t)

Velocity at time t :type t: float :param t: [in] time between 0 and length :rtype: rw::math::Rotation3D< float > :return: Velocity

getDeref()

Member access operator.

isNull()

checks if the pointer is null :rtype: boolean :return: Returns true if the pointer is null

isShared()

check if this Ptr has shared ownership or none ownership :rtype: boolean :return: true if Ptr has shared ownership, false if it has no ownership.

property thisown

The membership flag

x(t)

Position at time t :type t: float :param t: [in] time between 0 and length :rtype: rw::math::Rotation3D< float > :return: Position

class sdurw_trajectory.sdurw_trajectory.InterpolatorRotation3D_fPtr(*args)

Bases: object

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

__init__(*args)

Overload 1:

Default constructor yielding a NULL-pointer.

Overload 2:

Do not take ownership of ptr.

ptr can be null.

The constructor is implicit on purpose.

cptr()

ddx(t)

Acceleration at time t :type t: float :param t: [in] time between 0 and length :rtype: rw::math::Rotation3D< float > :return: Acceleration

deref()

The pointer stored in the object.

duration()

Returns the duration of the interpolator

The duration is defined as the time it takes to move from one end of the interpolator to the other. :rtype: float :return: duration

dx(t)

Velocity at time t :type t: float :param t: [in] time between 0 and length :rtype: rw::math::Rotation3D< float > :return: Velocity

getDeref()

Member access operator.

isNull()

checks if the pointer is null :rtype: boolean :return: Returns true if the pointer is null

isShared()

check if this Ptr has shared ownership or none ownership :rtype: boolean :return: true if Ptr has shared ownership, false if it has no ownership.

property thisown

The membership flag

x(t)

Position at time t :type t: float :param t: [in] time between 0 and length :rtype: rw::math::Rotation3D< float > :return: Position

sdurw_trajectory.sdurw_trajectory.InterpolatorSE3

alias of InterpolatorTransform3D

sdurw_trajectory.sdurw_trajectory.InterpolatorSO3

alias of InterpolatorRotation3D

class sdurw_trajectory.sdurw_trajectory.InterpolatorTrajectoryQ(startTime=0)

Bases: TrajectoryQ

Sequence of interpolators and blends giving a trajectory

A trajectory is defined as a sequence of interpolators and blends. Multiple interpolators can follow each other, whereas a Blend must be preceded and followed by interpolators.

The length of a Trajectory is defined as the time it takes to go from start to finish.

When performing random queries the trajectory needs to do a binary search through all interpolators and blend, giving the random access an O(lg n) complexity.

For accessing multiple consecutive values use TrajectoryInterpolator.

Example of usage:

Transform3D<> T1(Vector3D<>(0,0,0), EAA<>(0,0,0));
Transform3D<> T2(Vector3D<>(1,1,0), EAA<>(1,1,0));
Transform3D<> T3(Vector3D<>(2,0,0), EAA<>(2,2,0));

LinearInterpolator<Transform3D<> >::Ptr cartInt1 =
    ownedPtr(new LinearInterpolator<Transform3D<> >(T1, T2, 1));
LinearInterpolator<Transform3D<> >::Ptr cartInt2 =
    ownedPtr(new LinearInterpolator<Transform3D<> >(T2, T3, 1));
ParabolicBlend<Transform3D<> >::Ptr blend1 =
    ownedPtr(new ParabolicBlend<Transform3D<> >(cartInt1, cartInt2, 0.25));
InterpolatorTrajectory<Transform3D<> > trajectory;
trajectory.add(cartInt1);
trajectory.add(blend1, cartInt2);
std::ofstream out("test.dat");
for (double t = 0; t<=trajectory.duration(); t += dt) {
     Transform3D<> x = trajectory.x(t);
     out<<t<<" "<<x.P()(0)<<" "<<x.P()(1)<<" "<<x.P()(2)<<std::endl;
}
out.close();

__init__(startTime=0)

Construct an empty trajectory

add(*args)

Overload 1:

Adds an interpolator to the end of the trajectory.

When adding the interpolator the Trajectory takes ownership.

Parameters

interpolator (rw::core::Ptr< rw::trajectory::Interpolator< rw::math::Q > >) – [in] The interpolator to add

Overload 2:

Adds a blend and an interpolator to the trajectory.

The Blend added is used to blend between what was previously the last Interpolator of the trajectory onto interpolator, which become the new last interpolator of the trajectory. :type blend: rw::core::Ptr< rw::trajectory::Blend< rw::math::Q > > :param blend: [in] the blend to add :type interpolator: rw::core::Ptr< rw::trajectory::Interpolator< rw::math::Q > > :param interpolator: [in] the interpolator to add

Overload 3:

Append trajectory to the end

When adding a Trajectory all interpolators and blends of trajectory is added in sequence.

Ownership of the interpolator and blends are shared using std::shared_ptr

Parameters

trajectory (rw::trajectory::InterpolatorTrajectory< rw::math::Q >) – [in] Trajectory to append

ddx(t)

Acceleration of trajectory at time t

Returns the acceleration of the trajectory at time t \(\in[startTime(),endTime()]\).

Parameters

t (float) – [in] time between startTime() and endTime()

Return type

Q

Returns

Acceleration

duration()

Total duration of the trajectory.

The duration of the Trajectory corresponds to the time it takes to

run through it.

If the trajectory is empty, then -1 is returned.

dx(t)

Velocity of trajectory at time t

Returns the velocity of the trajectory at time t \(\in[startTime(), endTime()]\).

Parameters

t (float) – [in] time between startTime() and endTime()

Return type

Q

Returns

Velocity

getIterator(dt=1)

Returns a bi-directional interator for running through the trajectory.

For some trajectory types it may be significantly more efficient to run through using an iterator, rather than using random access.

Parameters

dt (float, optional) – [in] The default time step used when using the ++ or – operators in the iterator

Pointer to the iterator. The pointer has ownership.

getSegment(index)

getSegmentsCount()

Returns the number of segments

A segment contains a description interpolator and the blend used to blend from the previous interpolator

startTime()

Returns the startTime of the trajectory

Return type

float

Returns

Start time

property thisown

The membership flag

x(t)

Position of trajectory at time t

Returns the position of the trajectory at time t \(\in[startTime(), endTime()]\).

Parameters

t (float) – [in] time between startTime() and endTime()

Return type

Q

Returns

Position

class sdurw_trajectory.sdurw_trajectory.InterpolatorTrajectoryQCPtr(*args)

Bases: object

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

__init__(*args)

Overload 1:

Default constructor yielding a NULL-pointer.

Overload 2:

Do not take ownership of ptr.

ptr can be null.

The constructor is implicit on purpose.

ddx(t)

deref()

The pointer stored in the object.

duration()

dx(t)

endTime()

Returns the endTime of the trajectory.

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

Return type

float

Returns

The end time

getDeref()

Member access operator.

getIterator(dt=1)

getSegment(index)

getSegmentsCount()

Returns the number of segments

A segment contains a description interpolator and the blend used to blend from the previous interpolator

isNull()

checks if the pointer is null :rtype: boolean :return: Returns true if the pointer is null

isShared()

check if this Ptr has shared ownership or none ownership :rtype: boolean :return: true if Ptr has shared ownership, false if it has no ownership.

startTime()

property thisown

The membership flag

x(t)

class sdurw_trajectory.sdurw_trajectory.InterpolatorTrajectoryQPtr(*args)

Bases: object

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

__init__(*args)

Overload 1:

Default constructor yielding a NULL-pointer.

Overload 2:

Do not take ownership of ptr.

ptr can be null.

The constructor is implicit on purpose.

add(*args)

Overload 1:

Adds an interpolator to the end of the trajectory.

When adding the interpolator the Trajectory takes ownership.

Parameters

interpolator (rw::core::Ptr< rw::trajectory::Interpolator< rw::math::Q > >) – [in] The interpolator to add

Overload 2:

Adds a blend and an interpolator to the trajectory.

The Blend added is used to blend between what was previously the last Interpolator of the trajectory onto interpolator, which become the new last interpolator of the trajectory. :type blend: rw::core::Ptr< rw::trajectory::Blend< rw::math::Q > > :param blend: [in] the blend to add :type interpolator: rw::core::Ptr< rw::trajectory::Interpolator< rw::math::Q > > :param interpolator: [in] the interpolator to add

Overload 3:

Append trajectory to the end

When adding a Trajectory all interpolators and blends of trajectory is added in sequence.

Ownership of the interpolator and blends are shared using std::shared_ptr

Parameters

trajectory (rw::trajectory::InterpolatorTrajectory< rw::math::Q >) – [in] Trajectory to append

cptr()

ddx(t)

deref()

The pointer stored in the object.

duration()

dx(t)

endTime()

Returns the endTime of the trajectory.

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

Return type

float

Returns

The end time

getDeref()

Member access operator.

getIterator(dt=1)

getPath(dt, uniform=True)

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 (float) – [in] Step size

• uniform (boolean, optional) – [in] Whether to sample the path uniformly

Return type

std::vector< rw::math::Q >

Returns

The discrete path.

getSegment(index)

getSegmentsCount()

Returns the number of segments

A segment contains a description interpolator and the blend used to blend from the previous interpolator

isNull()

checks if the pointer is null :rtype: boolean :return: Returns true if the pointer is null

isShared()

check if this Ptr has shared ownership or none ownership :rtype: boolean :return: true if Ptr has shared ownership, false if it has no ownership.

startTime()

property thisown

The membership flag

x(t)

class sdurw_trajectory.sdurw_trajectory.InterpolatorTrajectoryQuaternion(startTime=0)

Bases: TrajectoryQuaternion

Sequence of interpolators and blends giving a trajectory

A trajectory is defined as a sequence of interpolators and blends. Multiple interpolators can follow each other, whereas a Blend must be preceded and followed by interpolators.

The length of a Trajectory is defined as the time it takes to go from start to finish.

When performing random queries the trajectory needs to do a binary search through all interpolators and blend, giving the random access an O(lg n) complexity.

For accessing multiple consecutive values use TrajectoryInterpolator.

Example of usage:

Transform3D<> T1(Vector3D<>(0,0,0), EAA<>(0,0,0));
Transform3D<> T2(Vector3D<>(1,1,0), EAA<>(1,1,0));
Transform3D<> T3(Vector3D<>(2,0,0), EAA<>(2,2,0));

LinearInterpolator<Transform3D<> >::Ptr cartInt1 =
    ownedPtr(new LinearInterpolator<Transform3D<> >(T1, T2, 1));
LinearInterpolator<Transform3D<> >::Ptr cartInt2 =
    ownedPtr(new LinearInterpolator<Transform3D<> >(T2, T3, 1));
ParabolicBlend<Transform3D<> >::Ptr blend1 =
    ownedPtr(new ParabolicBlend<Transform3D<> >(cartInt1, cartInt2, 0.25));
InterpolatorTrajectory<Transform3D<> > trajectory;
trajectory.add(cartInt1);
trajectory.add(blend1, cartInt2);
std::ofstream out("test.dat");
for (double t = 0; t<=trajectory.duration(); t += dt) {
     Transform3D<> x = trajectory.x(t);
     out<<t<<" "<<x.P()(0)<<" "<<x.P()(1)<<" "<<x.P()(2)<<std::endl;
}
out.close();

__init__(startTime=0)

Construct an empty trajectory

add(*args)

Overload 1:

Adds an interpolator to the end of the trajectory.

When adding the interpolator the Trajectory takes ownership.

Parameters

interpolator (rw::core::Ptr< rw::trajectory::Interpolator< rw::math::Quaternion< double > > >) – [in] The interpolator to add

Overload 2:

Adds a blend and an interpolator to the trajectory.

The Blend added is used to blend between what was previously the last Interpolator of the trajectory onto interpolator, which become the new last interpolator of the trajectory. :type blend: rw::core::Ptr< rw::trajectory::Blend< rw::math::Quaternion< double > > > :param blend: [in] the blend to add :type interpolator: rw::core::Ptr< rw::trajectory::Interpolator< rw::math::Quaternion< double > > > :param interpolator: [in] the interpolator to add

Overload 3:

Append trajectory to the end

When adding a Trajectory all interpolators and blends of trajectory is added in sequence.

Ownership of the interpolator and blends are shared using std::shared_ptr

Parameters

trajectory (rw::trajectory::InterpolatorTrajectory< rw::math::Quaternion< double > >) – [in] Trajectory to append

ddx(t)

Acceleration of trajectory at time t

Returns the acceleration of the trajectory at time t \(\in[startTime(),endTime()]\).

Parameters

t (float) – [in] time between startTime() and endTime()

Return type

rw::math::Quaternion< double >

Returns

Acceleration

duration()

Total duration of the trajectory.

The duration of the Trajectory corresponds to the time it takes to

run through it.

If the trajectory is empty, then -1 is returned.

dx(t)

Velocity of trajectory at time t

Returns the velocity of the trajectory at time t \(\in[startTime(), endTime()]\).

Parameters

t (float) – [in] time between startTime() and endTime()

Return type

rw::math::Quaternion< double >

Returns

Velocity

getIterator(dt=1)

Returns a bi-directional interator for running through the trajectory.

For some trajectory types it may be significantly more efficient to run through using an iterator, rather than using random access.

Parameters

dt (float, optional) – [in] The default time step used when using the ++ or – operators in the iterator

Pointer to the iterator. The pointer has ownership.

getSegment(index)

getSegmentsCount()

Returns the number of segments

A segment contains a description interpolator and the blend used to blend from the previous interpolator

startTime()

Returns the startTime of the trajectory

Return type

float

Returns

Start time

property thisown

The membership flag

x(t)

Position of trajectory at time t

Returns the position of the trajectory at time t \(\in[startTime(), endTime()]\).

Parameters

t (float) – [in] time between startTime() and endTime()

Return type

rw::math::Quaternion< double >

Returns

Position

class sdurw_trajectory.sdurw_trajectory.InterpolatorTrajectoryQuaternionCPtr(*args)

Bases: object

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

__init__(*args)

Overload 1:

Default constructor yielding a NULL-pointer.

Overload 2:

Do not take ownership of ptr.

ptr can be null.

The constructor is implicit on purpose.

ddx(t)

deref()

The pointer stored in the object.

duration()

dx(t)

endTime()

Returns the endTime of the trajectory.

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

Return type

float

Returns

The end time

getDeref()

Member access operator.

getIterator(dt=1)

getSegment(index)

getSegmentsCount()

Returns the number of segments

A segment contains a description interpolator and the blend used to blend from the previous interpolator

isNull()

checks if the pointer is null :rtype: boolean :return: Returns true if the pointer is null

isShared()

check if this Ptr has shared ownership or none ownership :rtype: boolean :return: true if Ptr has shared ownership, false if it has no ownership.

startTime()

property thisown

The membership flag

x(t)

class sdurw_trajectory.sdurw_trajectory.InterpolatorTrajectoryQuaternionPtr(*args)

Bases: object

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

__init__(*args)

Overload 1:

Default constructor yielding a NULL-pointer.

Overload 2:

Do not take ownership of ptr.

ptr can be null.

The constructor is implicit on purpose.

add(*args)

Overload 1:

Adds an interpolator to the end of the trajectory.

When adding the interpolator the Trajectory takes ownership.

Parameters

interpolator (rw::core::Ptr< rw::trajectory::Interpolator< rw::math::Quaternion< double > > >) – [in] The interpolator to add

Overload 2:

Adds a blend and an interpolator to the trajectory.

The Blend added is used to blend between what was previously the last Interpolator of the trajectory onto interpolator, which become the new last interpolator of the trajectory. :type blend: rw::core::Ptr< rw::trajectory::Blend< rw::math::Quaternion< double > > > :param blend: [in] the blend to add :type interpolator: rw::core::Ptr< rw::trajectory::Interpolator< rw::math::Quaternion< double > > > :param interpolator: [in] the interpolator to add

Overload 3:

Append trajectory to the end

When adding a Trajectory all interpolators and blends of trajectory is added in sequence.

Ownership of the interpolator and blends are shared using std::shared_ptr

Parameters

trajectory (rw::trajectory::InterpolatorTrajectory< rw::math::Quaternion< double > >) – [in] Trajectory to append

cptr()

ddx(t)

deref()

The pointer stored in the object.

duration()

dx(t)

endTime()

Returns the endTime of the trajectory.

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

Return type

float

Returns

The end time

getDeref()

Member access operator.

getIterator(dt=1)

getPath(dt, uniform=True)

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 (float) – [in] Step size

• uniform (boolean, optional) – [in] Whether to sample the path uniformly

Return type

std::vector< rw::math::Quaternion< double > >

Returns

The discrete path.

getSegment(index)

getSegmentsCount()

Returns the number of segments

A segment contains a description interpolator and the blend used to blend from the previous interpolator

isNull()

checks if the pointer is null :rtype: boolean :return: Returns true if the pointer is null

isShared()

check if this Ptr has shared ownership or none ownership :rtype: boolean :return: true if Ptr has shared ownership, false if it has no ownership.

startTime()

property thisown

The membership flag

x(t)

class sdurw_trajectory.sdurw_trajectory.InterpolatorTrajectoryQuaternion_f(startTime=0)

Bases: TrajectoryQuaternion_f

Sequence of interpolators and blends giving a trajectory

A trajectory is defined as a sequence of interpolators and blends. Multiple interpolators can follow each other, whereas a Blend must be preceded and followed by interpolators.

The length of a Trajectory is defined as the time it takes to go from start to finish.

When performing random queries the trajectory needs to do a binary search through all interpolators and blend, giving the random access an O(lg n) complexity.

For accessing multiple consecutive values use TrajectoryInterpolator.

Example of usage:

Transform3D<> T1(Vector3D<>(0,0,0), EAA<>(0,0,0));
Transform3D<> T2(Vector3D<>(1,1,0), EAA<>(1,1,0));
Transform3D<> T3(Vector3D<>(2,0,0), EAA<>(2,2,0));

LinearInterpolator<Transform3D<> >::Ptr cartInt1 =
    ownedPtr(new LinearInterpolator<Transform3D<> >(T1, T2, 1));
LinearInterpolator<Transform3D<> >::Ptr cartInt2 =
    ownedPtr(new LinearInterpolator<Transform3D<> >(T2, T3, 1));
ParabolicBlend<Transform3D<> >::Ptr blend1 =
    ownedPtr(new ParabolicBlend<Transform3D<> >(cartInt1, cartInt2, 0.25));
InterpolatorTrajectory<Transform3D<> > trajectory;
trajectory.add(cartInt1);
trajectory.add(blend1, cartInt2);
std::ofstream out("test.dat");
for (double t = 0; t<=trajectory.duration(); t += dt) {
     Transform3D<> x = trajectory.x(t);
     out<<t<<" "<<x.P()(0)<<" "<<x.P()(1)<<" "<<x.P()(2)<<std::endl;
}
out.close();

__init__(startTime=0)

Construct an empty trajectory

add(*args)

Overload 1:

Adds an interpolator to the end of the trajectory.

When adding the interpolator the Trajectory takes ownership.

Parameters

interpolator (rw::core::Ptr< rw::trajectory::Interpolator< rw::math::Quaternion< float > > >) – [in] The interpolator to add

Overload 2:

Adds a blend and an interpolator to the trajectory.

The Blend added is used to blend between what was previously the last Interpolator of the trajectory onto interpolator, which become the new last interpolator of the trajectory. :type blend: rw::core::Ptr< rw::trajectory::Blend< rw::math::Quaternion< float > > > :param blend: [in] the blend to add :type interpolator: rw::core::Ptr< rw::trajectory::Interpolator< rw::math::Quaternion< float > > > :param interpolator: [in] the interpolator to add

Overload 3:

Append trajectory to the end

When adding a Trajectory all interpolators and blends of trajectory is added in sequence.

Ownership of the interpolator and blends are shared using std::shared_ptr

Parameters

trajectory (rw::trajectory::InterpolatorTrajectory< rw::math::Quaternion< float > >) – [in] Trajectory to append

ddx(t)

Acceleration of trajectory at time t

Returns the acceleration of the trajectory at time t \(\in[startTime(),endTime()]\).

Parameters

t (float) – [in] time between startTime() and endTime()

Return type

rw::math::Quaternion< float >

Returns

Acceleration

duration()

Total duration of the trajectory.

The duration of the Trajectory corresponds to the time it takes to

run through it.

If the trajectory is empty, then -1 is returned.

dx(t)

Velocity of trajectory at time t

Returns the velocity of the trajectory at time t \(\in[startTime(), endTime()]\).

Parameters

t (float) – [in] time between startTime() and endTime()

Return type

rw::math::Quaternion< float >

Returns

Velocity

getIterator(dt=1)

Returns a bi-directional interator for running through the trajectory.

For some trajectory types it may be significantly more efficient to run through using an iterator, rather than using random access.

Parameters

dt (float, optional) – [in] The default time step used when using the ++ or – operators in the iterator

Pointer to the iterator. The pointer has ownership.

getSegment(index)

getSegmentsCount()

Returns the number of segments

A segment contains a description interpolator and the blend used to blend from the previous interpolator

startTime()

Returns the startTime of the trajectory

Return type

float

Returns

Start time

property thisown

The membership flag

x(t)

Position of trajectory at time t

Returns the position of the trajectory at time t \(\in[startTime(), endTime()]\).

Parameters

t (float) – [in] time between startTime() and endTime()

Return type

rw::math::Quaternion< float >

Returns

Position

class sdurw_trajectory.sdurw_trajectory.InterpolatorTrajectoryQuaternion_fCPtr(*args)

Bases: object

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

__init__(*args)

Overload 1:

Default constructor yielding a NULL-pointer.

Overload 2:

Do not take ownership of ptr.

ptr can be null.

The constructor is implicit on purpose.

ddx(t)

deref()

The pointer stored in the object.

duration()

dx(t)

endTime()

Returns the endTime of the trajectory.

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

Return type

float

Returns

The end time

getDeref()

Member access operator.

getIterator(dt=1)

getSegment(index)

getSegmentsCount()

Returns the number of segments

A segment contains a description interpolator and the blend used to blend from the previous interpolator

isNull()

checks if the pointer is null :rtype: boolean :return: Returns true if the pointer is null

isShared()

check if this Ptr has shared ownership or none ownership :rtype: boolean :return: true if Ptr has shared ownership, false if it has no ownership.

startTime()

property thisown

The membership flag

x(t)

class sdurw_trajectory.sdurw_trajectory.InterpolatorTrajectoryQuaternion_fPtr(*args)

Bases: object

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

__init__(*args)

Overload 1:

Default constructor yielding a NULL-pointer.

Overload 2:

Do not take ownership of ptr.

ptr can be null.

The constructor is implicit on purpose.

add(*args)

Overload 1:

Adds an interpolator to the end of the trajectory.

When adding the interpolator the Trajectory takes ownership.

Parameters

interpolator (rw::core::Ptr< rw::trajectory::Interpolator< rw::math::Quaternion< float > > >) – [in] The interpolator to add

Overload 2:

Adds a blend and an interpolator to the trajectory.

The Blend added is used to blend between what was previously the last Interpolator of the trajectory onto interpolator, which become the new last interpolator of the trajectory. :type blend: rw::core::Ptr< rw::trajectory::Blend< rw::math::Quaternion< float > > > :param blend: [in] the blend to add :type interpolator: rw::core::Ptr< rw::trajectory::Interpolator< rw::math::Quaternion< float > > > :param interpolator: [in] the interpolator to add

Overload 3:

Append trajectory to the end

When adding a Trajectory all interpolators and blends of trajectory is added in sequence.

Ownership of the interpolator and blends are shared using std::shared_ptr

Parameters

trajectory (rw::trajectory::InterpolatorTrajectory< rw::math::Quaternion< float > >) – [in] Trajectory to append

cptr()

ddx(t)

deref()

The pointer stored in the object.

duration()

dx(t)

endTime()

Returns the endTime of the trajectory.

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

Return type

float

Returns

The end time

getDeref()

Member access operator.

getIterator(dt=1)

getPath(dt, uniform=True)

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 (float) – [in] Step size

• uniform (boolean, optional) – [in] Whether to sample the path uniformly

Return type

std::vector< rw::math::Quaternion< float > >

Returns

The discrete path.

getSegment(index)

getSegmentsCount()

Returns the number of segments

A segment contains a description interpolator and the blend used to blend from the previous interpolator

isNull()

checks if the pointer is null :rtype: boolean :return: Returns true if the pointer is null

isShared()

check if this Ptr has shared ownership or none ownership :rtype: boolean :return: true if Ptr has shared ownership, false if it has no ownership.

startTime()

property thisown

The membership flag

x(t)

sdurw_trajectory.sdurw_trajectory.InterpolatorTrajectoryR1

alias of InterpolatorTrajectory_d

sdurw_trajectory.sdurw_trajectory.InterpolatorTrajectoryR2

alias of InterpolatorTrajectoryVector2D

sdurw_trajectory.sdurw_trajectory.InterpolatorTrajectoryR3

alias of InterpolatorTrajectoryVector3D

class sdurw_trajectory.sdurw_trajectory.InterpolatorTrajectoryRotation3D(startTime=0)

Bases: TrajectoryRotation3D

Sequence of interpolators and blends giving a trajectory

A trajectory is defined as a sequence of interpolators and blends. Multiple interpolators can follow each other, whereas a Blend must be preceded and followed by interpolators.

The length of a Trajectory is defined as the time it takes to go from start to finish.

When performing random queries the trajectory needs to do a binary search through all interpolators and blend, giving the random access an O(lg n) complexity.

For accessing multiple consecutive values use TrajectoryInterpolator.

Example of usage:

Transform3D<> T1(Vector3D<>(0,0,0), EAA<>(0,0,0));
Transform3D<> T2(Vector3D<>(1,1,0), EAA<>(1,1,0));
Transform3D<> T3(Vector3D<>(2,0,0), EAA<>(2,2,0));

LinearInterpolator<Transform3D<> >::Ptr cartInt1 =
    ownedPtr(new LinearInterpolator<Transform3D<> >(T1, T2, 1));
LinearInterpolator<Transform3D<> >::Ptr cartInt2 =
    ownedPtr(new LinearInterpolator<Transform3D<> >(T2, T3, 1));
ParabolicBlend<Transform3D<> >::Ptr blend1 =
    ownedPtr(new ParabolicBlend<Transform3D<> >(cartInt1, cartInt2, 0.25));
InterpolatorTrajectory<Transform3D<> > trajectory;
trajectory.add(cartInt1);
trajectory.add(blend1, cartInt2);
std::ofstream out("test.dat");
for (double t = 0; t<=trajectory.duration(); t += dt) {
     Transform3D<> x = trajectory.x(t);
     out<<t<<" "<<x.P()(0)<<" "<<x.P()(1)<<" "<<x.P()(2)<<std::endl;
}
out.close();

__init__(startTime=0)

Construct an empty trajectory

add(*args)

Overload 1:

Adds an interpolator to the end of the trajectory.

When adding the interpolator the Trajectory takes ownership.

Parameters

interpolator (rw::core::Ptr< rw::trajectory::Interpolator< rw::math::Rotation3D< double > > >) – [in] The interpolator to add

Overload 2:

Adds a blend and an interpolator to the trajectory.

The Blend added is used to blend between what was previously the last Interpolator of the trajectory onto interpolator, which become the new last interpolator of the trajectory. :type blend: rw::core::Ptr< rw::trajectory::Blend< rw::math::Rotation3D< double > > > :param blend: [in] the blend to add :type interpolator: rw::core::Ptr< rw::trajectory::Interpolator< rw::math::Rotation3D< double > > > :param interpolator: [in] the interpolator to add

Overload 3:

Append trajectory to the end

When adding a Trajectory all interpolators and blends of trajectory is added in sequence.

Ownership of the interpolator and blends are shared using std::shared_ptr

Parameters

trajectory (rw::trajectory::InterpolatorTrajectory< rw::math::Rotation3D< double > >) – [in] Trajectory to append

ddx(t)

Acceleration of trajectory at time t

Returns the acceleration of the trajectory at time t \(\in[startTime(),endTime()]\).

Parameters

t (float) – [in] time between startTime() and endTime()

Return type

rw::math::Rotation3D< double >

Returns

Acceleration

duration()

Total duration of the trajectory.

The duration of the Trajectory corresponds to the time it takes to

run through it.

If the trajectory is empty, then -1 is returned.

dx(t)

Velocity of trajectory at time t

Returns the velocity of the trajectory at time t \(\in[startTime(), endTime()]\).

Parameters

t (float) – [in] time between startTime() and endTime()

Return type

rw::math::Rotation3D< double >

Returns

Velocity

getIterator(dt=1)

Returns a bi-directional interator for running through the trajectory.

For some trajectory types it may be significantly more efficient to run through using an iterator, rather than using random access.

Parameters

dt (float, optional) – [in] The default time step used when using the ++ or – operators in the iterator

Pointer to the iterator. The pointer has ownership.

getSegment(index)

getSegmentsCount()

Returns the number of segments

A segment contains a description interpolator and the blend used to blend from the previous interpolator

startTime()

Returns the startTime of the trajectory

Return type

float

Returns

Start time

property thisown

The membership flag

x(t)

Position of trajectory at time t

Returns the position of the trajectory at time t \(\in[startTime(), endTime()]\).

Parameters

t (float) – [in] time between startTime() and endTime()

Return type

rw::math::Rotation3D< double >

Returns

Position

class sdurw_trajectory.sdurw_trajectory.InterpolatorTrajectoryRotation3DCPtr(*args)

Bases: object

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

__init__(*args)

Overload 1:

Default constructor yielding a NULL-pointer.

Overload 2:

Do not take ownership of ptr.

ptr can be null.

The constructor is implicit on purpose.

ddx(t)

deref()

The pointer stored in the object.

duration()

dx(t)

endTime()

Returns the endTime of the trajectory.

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

Return type

float

Returns

The end time

getDeref()

Member access operator.

getIterator(dt=1)

getSegment(index)

getSegmentsCount()

Returns the number of segments

A segment contains a description interpolator and the blend used to blend from the previous interpolator

isNull()

checks if the pointer is null :rtype: boolean :return: Returns true if the pointer is null

isShared()

check if this Ptr has shared ownership or none ownership :rtype: boolean :return: true if Ptr has shared ownership, false if it has no ownership.

startTime()

property thisown

The membership flag

x(t)

class sdurw_trajectory.sdurw_trajectory.InterpolatorTrajectoryRotation3DPtr(*args)

Bases: object

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

__init__(*args)

Overload 1:

Default constructor yielding a NULL-pointer.

Overload 2:

Do not take ownership of ptr.

ptr can be null.

The constructor is implicit on purpose.

add(*args)

Overload 1:

Adds an interpolator to the end of the trajectory.

When adding the interpolator the Trajectory takes ownership.

Parameters

interpolator (rw::core::Ptr< rw::trajectory::Interpolator< rw::math::Rotation3D< double > > >) – [in] The interpolator to add

Overload 2:

Adds a blend and an interpolator to the trajectory.

The Blend added is used to blend between what was previously the last Interpolator of the trajectory onto interpolator, which become the new last interpolator of the trajectory. :type blend: rw::core::Ptr< rw::trajectory::Blend< rw::math::Rotation3D< double > > > :param blend: [in] the blend to add :type interpolator: rw::core::Ptr< rw::trajectory::Interpolator< rw::math::Rotation3D< double > > > :param interpolator: [in] the interpolator to add

Overload 3:

Append trajectory to the end

When adding a Trajectory all interpolators and blends of trajectory is added in sequence.

Ownership of the interpolator and blends are shared using std::shared_ptr

Parameters

trajectory (rw::trajectory::InterpolatorTrajectory< rw::math::Rotation3D< double > >) – [in] Trajectory to append

cptr()

ddx(t)

deref()

The pointer stored in the object.

duration()

dx(t)

endTime()

Returns the endTime of the trajectory.

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

Return type

float

Returns

The end time

getDeref()

Member access operator.

getIterator(dt=1)

getPath(dt, uniform=True)

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 (float) – [in] Step size

• uniform (boolean, optional) – [in] Whether to sample the path uniformly

Return type

std::vector< rw::math::Rotation3D< double > >

Returns

The discrete path.

getSegment(index)

getSegmentsCount()

Returns the number of segments

A segment contains a description interpolator and the blend used to blend from the previous interpolator

isNull()

checks if the pointer is null :rtype: boolean :return: Returns true if the pointer is null

isShared()

check if this Ptr has shared ownership or none ownership :rtype: boolean :return: true if Ptr has shared ownership, false if it has no ownership.

startTime()

property thisown

The membership flag

x(t)

class sdurw_trajectory.sdurw_trajectory.InterpolatorTrajectoryRotation3D_f(startTime=0)

Bases: TrajectoryRotation3D_f

Sequence of interpolators and blends giving a trajectory

A trajectory is defined as a sequence of interpolators and blends. Multiple interpolators can follow each other, whereas a Blend must be preceded and followed by interpolators.

The length of a Trajectory is defined as the time it takes to go from start to finish.

When performing random queries the trajectory needs to do a binary search through all interpolators and blend, giving the random access an O(lg n) complexity.

For accessing multiple consecutive values use TrajectoryInterpolator.

Example of usage:

Transform3D<> T1(Vector3D<>(0,0,0), EAA<>(0,0,0));
Transform3D<> T2(Vector3D<>(1,1,0), EAA<>(1,1,0));
Transform3D<> T3(Vector3D<>(2,0,0), EAA<>(2,2,0));

LinearInterpolator<Transform3D<> >::Ptr cartInt1 =
    ownedPtr(new LinearInterpolator<Transform3D<> >(T1, T2, 1));
LinearInterpolator<Transform3D<> >::Ptr cartInt2 =
    ownedPtr(new LinearInterpolator<Transform3D<> >(T2, T3, 1));
ParabolicBlend<Transform3D<> >::Ptr blend1 =
    ownedPtr(new ParabolicBlend<Transform3D<> >(cartInt1, cartInt2, 0.25));
InterpolatorTrajectory<Transform3D<> > trajectory;
trajectory.add(cartInt1);
trajectory.add(blend1, cartInt2);
std::ofstream out("test.dat");
for (double t = 0; t<=trajectory.duration(); t += dt) {
     Transform3D<> x = trajectory.x(t);
     out<<t<<" "<<x.P()(0)<<" "<<x.P()(1)<<" "<<x.P()(2)<<std::endl;
}
out.close();

__init__(startTime=0)

Construct an empty trajectory

add(*args)

Overload 1:

Adds an interpolator to the end of the trajectory.

When adding the interpolator the Trajectory takes ownership.

Parameters

interpolator (rw::core::Ptr< rw::trajectory::Interpolator< rw::math::Rotation3D< float > > >) – [in] The interpolator to add

Overload 2:

Adds a blend and an interpolator to the trajectory.

The Blend added is used to blend between what was previously the last Interpolator of the trajectory onto interpolator, which become the new last interpolator of the trajectory. :type blend: rw::core::Ptr< rw::trajectory::Blend< rw::math::Rotation3D< float > > > :param blend: [in] the blend to add :type interpolator: rw::core::Ptr< rw::trajectory::Interpolator< rw::math::Rotation3D< float > > > :param interpolator: [in] the interpolator to add

Overload 3:

Append trajectory to the end

When adding a Trajectory all interpolators and blends of trajectory is added in sequence.

Ownership of the interpolator and blends are shared using std::shared_ptr

Parameters

trajectory (rw::trajectory::InterpolatorTrajectory< rw::math::Rotation3D< float > >) – [in] Trajectory to append

ddx(t)

Acceleration of trajectory at time t

Returns the acceleration of the trajectory at time t \(\in[startTime(),endTime()]\).

Parameters

t (float) – [in] time between startTime() and endTime()

Return type

rw::math::Rotation3D< float >

Returns

Acceleration

duration()

Total duration of the trajectory.

The duration of the Trajectory corresponds to the time it takes to

run through it.

If the trajectory is empty, then -1 is returned.

dx(t)

Velocity of trajectory at time t

Returns the velocity of the trajectory at time t \(\in[startTime(), endTime()]\).

Parameters

t (float) – [in] time between startTime() and endTime()

Return type

rw::math::Rotation3D< float >

Returns

Velocity

getIterator(dt=1)

Returns a bi-directional interator for running through the trajectory.

For some trajectory types it may be significantly more efficient to run through using an iterator, rather than using random access.

Parameters

dt (float, optional) – [in] The default time step used when using the ++ or – operators in the iterator

Pointer to the iterator. The pointer has ownership.

getSegment(index)

getSegmentsCount()

Returns the number of segments

A segment contains a description interpolator and the blend used to blend from the previous interpolator

startTime()

Returns the startTime of the trajectory

Return type

float

Returns

Start time

property thisown

The membership flag

x(t)

Position of trajectory at time t

Returns the position of the trajectory at time t \(\in[startTime(), endTime()]\).

Parameters

t (float) – [in] time between startTime() and endTime()

Return type

rw::math::Rotation3D< float >

Returns

Position

class sdurw_trajectory.sdurw_trajectory.InterpolatorTrajectoryRotation3D_fCPtr(*args)

Bases: object

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

__init__(*args)

Overload 1:

Default constructor yielding a NULL-pointer.

Overload 2:

Do not take ownership of ptr.

ptr can be null.

The constructor is implicit on purpose.

ddx(t)

deref()

The pointer stored in the object.

duration()

dx(t)

endTime()

Returns the endTime of the trajectory.

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

Return type

float

Returns

The end time

getDeref()

Member access operator.

getIterator(dt=1)

getSegment(index)

getSegmentsCount()

Returns the number of segments

A segment contains a description interpolator and the blend used to blend from the previous interpolator

isNull()

checks if the pointer is null :rtype: boolean :return: Returns true if the pointer is null

isShared()

check if this Ptr has shared ownership or none ownership :rtype: boolean :return: true if Ptr has shared ownership, false if it has no ownership.

startTime()

property thisown

The membership flag

x(t)

class sdurw_trajectory.sdurw_trajectory.InterpolatorTrajectoryRotation3D_fPtr(*args)

Bases: object

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

__init__(*args)

Overload 1:

Default constructor yielding a NULL-pointer.

Overload 2:

Do not take ownership of ptr.

ptr can be null.

The constructor is implicit on purpose.

add(*args)

Overload 1:

Adds an interpolator to the end of the trajectory.

When adding the interpolator the Trajectory takes ownership.

Parameters

interpolator (rw::core::Ptr< rw::trajectory::Interpolator< rw::math::Rotation3D< float > > >) – [in] The interpolator to add

Overload 2:

Adds a blend and an interpolator to the trajectory.

The Blend added is used to blend between what was previously the last Interpolator of the trajectory onto interpolator, which become the new last interpolator of the trajectory. :type blend: rw::core::Ptr< rw::trajectory::Blend< rw::math::Rotation3D< float > > > :param blend: [in] the blend to add :type interpolator: rw::core::Ptr< rw::trajectory::Interpolator< rw::math::Rotation3D< float > > > :param interpolator: [in] the interpolator to add

Overload 3:

Append trajectory to the end

When adding a Trajectory all interpolators and blends of trajectory is added in sequence.

Ownership of the interpolator and blends are shared using std::shared_ptr

Parameters

trajectory (rw::trajectory::InterpolatorTrajectory< rw::math::Rotation3D< float > >) – [in] Trajectory to append

cptr()

ddx(t)

deref()

The pointer stored in the object.

duration()

dx(t)

endTime()

Returns the endTime of the trajectory.

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

Return type

float

Returns

The end time

getDeref()

Member access operator.

getIterator(dt=1)

getPath(dt, uniform=True)

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 (float) – [in] Step size

• uniform (boolean, optional) – [in] Whether to sample the path uniformly

Return type

std::vector< rw::math::Rotation3D< float > >

Returns

The discrete path.

getSegment(index)

getSegmentsCount()

Returns the number of segments

A segment contains a description interpolator and the blend used to blend from the previous interpolator

isNull()

checks if the pointer is null :rtype: boolean :return: Returns true if the pointer is null

isShared()

check if this Ptr has shared ownership or none ownership :rtype: boolean :return: true if Ptr has shared ownership, false if it has no ownership.

startTime()

property thisown

The membership flag

x(t)

sdurw_trajectory.sdurw_trajectory.InterpolatorTrajectorySE3

alias of InterpolatorTrajectoryTransform3D

sdurw_trajectory.sdurw_trajectory.InterpolatorTrajectorySO3

alias of InterpolatorTrajectoryRotation3D

class sdurw_trajectory.sdurw_trajectory.InterpolatorTrajectoryTransform3D(startTime=0)

Bases: TrajectoryTransform3D

Sequence of interpolators and blends giving a trajectory

A trajectory is defined as a sequence of interpolators and blends. Multiple interpolators can follow each other, whereas a Blend must be preceded and followed by interpolators.

The length of a Trajectory is defined as the time it takes to go from start to finish.

When performing random queries the trajectory needs to do a binary search through all interpolators and blend, giving the random access an O(lg n) complexity.

For accessing multiple consecutive values use TrajectoryInterpolator.

Example of usage:

Transform3D<> T1(Vector3D<>(0,0,0), EAA<>(0,0,0));
Transform3D<> T2(Vector3D<>(1,1,0), EAA<>(1,1,0));
Transform3D<> T3(Vector3D<>(2,0,0), EAA<>(2,2,0));

LinearInterpolator<Transform3D<> >::Ptr cartInt1 =
    ownedPtr(new LinearInterpolator<Transform3D<> >(T1, T2, 1));
LinearInterpolator<Transform3D<> >::Ptr cartInt2 =
    ownedPtr(new LinearInterpolator<Transform3D<> >(T2, T3, 1));
ParabolicBlend<Transform3D<> >::Ptr blend1 =
    ownedPtr(new ParabolicBlend<Transform3D<> >(cartInt1, cartInt2, 0.25));
InterpolatorTrajectory<Transform3D<> > trajectory;
trajectory.add(cartInt1);
trajectory.add(blend1, cartInt2);
std::ofstream out("test.dat");
for (double t = 0; t<=trajectory.duration(); t += dt) {
     Transform3D<> x = trajectory.x(t);
     out<<t<<" "<<x.P()(0)<<" "<<x.P()(1)<<" "<<x.P()(2)<<std::endl;
}
out.close();

__init__(startTime=0)

Construct an empty trajectory

add(*args)

Overload 1:

Adds an interpolator to the end of the trajectory.

When adding the interpolator the Trajectory takes ownership.

Parameters

interpolator (rw::core::Ptr< rw::trajectory::Interpolator< rw::math::Transform3D< double > > >) – [in] The interpolator to add

Overload 2:

Adds a blend and an interpolator to the trajectory.

The Blend added is used to blend between what was previously the last Interpolator of the trajectory onto interpolator, which become the new last interpolator of the trajectory. :type blend: rw::core::Ptr< rw::trajectory::Blend< rw::math::Transform3D< double > > > :param blend: [in] the blend to add :type interpolator: rw::core::Ptr< rw::trajectory::Interpolator< rw::math::Transform3D< double > > > :param interpolator: [in] the interpolator to add

Overload 3:

Append trajectory to the end

When adding a Trajectory all interpolators and blends of trajectory is added in sequence.

Ownership of the interpolator and blends are shared using std::shared_ptr

Parameters

trajectory (rw::trajectory::InterpolatorTrajectory< rw::math::Transform3D< double > >) – [in] Trajectory to append

ddx(t)

Acceleration of trajectory at time t

Returns the acceleration of the trajectory at time t \(\in[startTime(),endTime()]\).

Parameters

t (float) – [in] time between startTime() and endTime()

Return type

rw::math::Transform3D< double >

Returns

Acceleration

duration()

Total duration of the trajectory.

The duration of the Trajectory corresponds to the time it takes to

run through it.

If the trajectory is empty, then -1 is returned.

dx(t)

Velocity of trajectory at time t

Returns the velocity of the trajectory at time t \(\in[startTime(), endTime()]\).

Parameters

t (float) – [in] time between startTime() and endTime()

Return type

rw::math::Transform3D< double >

Returns

Velocity

getIterator(dt=1)

Returns a bi-directional interator for running through the trajectory.

For some trajectory types it may be significantly more efficient to run through using an iterator, rather than using random access.

Parameters

dt (float, optional) – [in] The default time step used when using the ++ or – operators in the iterator

Pointer to the iterator. The pointer has ownership.

getSegment(index)

getSegmentsCount()

Returns the number of segments

A segment contains a description interpolator and the blend used to blend from the previous interpolator

startTime()

Returns the startTime of the trajectory

Return type

float

Returns

Start time

property thisown

The membership flag

x(t)

Position of trajectory at time t

Returns the position of the trajectory at time t \(\in[startTime(), endTime()]\).

Parameters

t (float) – [in] time between startTime() and endTime()

Return type

rw::math::Transform3D< double >

Returns

Position

class sdurw_trajectory.sdurw_trajectory.InterpolatorTrajectoryTransform3DCPtr(*args)

Bases: object

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

__init__(*args)

Overload 1:

Default constructor yielding a NULL-pointer.

Overload 2:

Do not take ownership of ptr.

ptr can be null.

The constructor is implicit on purpose.

ddx(t)

deref()

The pointer stored in the object.

duration()

dx(t)

endTime()

Returns the endTime of the trajectory.

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

Return type

float

Returns

The end time

getDeref()

Member access operator.

getIterator(dt=1)

getSegment(index)

getSegmentsCount()

Returns the number of segments

A segment contains a description interpolator and the blend used to blend from the previous interpolator

isNull()

checks if the pointer is null :rtype: boolean :return: Returns true if the pointer is null

isShared()

check if this Ptr has shared ownership or none ownership :rtype: boolean :return: true if Ptr has shared ownership, false if it has no ownership.

startTime()

property thisown

The membership flag

x(t)

class sdurw_trajectory.sdurw_trajectory.InterpolatorTrajectoryTransform3DPtr(*args)

Bases: object

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

__init__(*args)

Overload 1:

Default constructor yielding a NULL-pointer.

Overload 2:

Do not take ownership of ptr.

ptr can be null.

The constructor is implicit on purpose.

add(*args)

Overload 1:

Adds an interpolator to the end of the trajectory.

When adding the interpolator the Trajectory takes ownership.

Parameters

interpolator (rw::core::Ptr< rw::trajectory::Interpolator< rw::math::Transform3D< double > > >) – [in] The interpolator to add

Overload 2:

Adds a blend and an interpolator to the trajectory.

The Blend added is used to blend between what was previously the last Interpolator of the trajectory onto interpolator, which become the new last interpolator of the trajectory. :type blend: rw::core::Ptr< rw::trajectory::Blend< rw::math::Transform3D< double > > > :param blend: [in] the blend to add :type interpolator: rw::core::Ptr< rw::trajectory::Interpolator< rw::math::Transform3D< double > > > :param interpolator: [in] the interpolator to add

Overload 3:

Append trajectory to the end

When adding a Trajectory all interpolators and blends of trajectory is added in sequence.

Ownership of the interpolator and blends are shared using std::shared_ptr

Parameters

trajectory (rw::trajectory::InterpolatorTrajectory< rw::math::Transform3D< double > >) – [in] Trajectory to append

cptr()

ddx(t)

deref()

The pointer stored in the object.

duration()

dx(t)

endTime()

Returns the endTime of the trajectory.

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

Return type

float

Returns

The end time

getDeref()

Member access operator.

getIterator(dt=1)

getPath(dt, uniform=True)

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 (float) – [in] Step size

• uniform (boolean, optional) – [in] Whether to sample the path uniformly

Return type

std::vector< rw::math::Transform3D< double > >

Returns

The discrete path.

getSegment(index)

getSegmentsCount()

Returns the number of segments

A segment contains a description interpolator and the blend used to blend from the previous interpolator

isNull()

checks if the pointer is null :rtype: boolean :return: Returns true if the pointer is null

isShared()

check if this Ptr has shared ownership or none ownership :rtype: boolean :return: true if Ptr has shared ownership, false if it has no ownership.

startTime()

property thisown

The membership flag

x(t)

class sdurw_trajectory.sdurw_trajectory.InterpolatorTrajectoryTransform3DVector(startTime=0)

Bases: TrajectoryTransform3DVector

Sequence of interpolators and blends giving a trajectory

A trajectory is defined as a sequence of interpolators and blends. Multiple interpolators can follow each other, whereas a Blend must be preceded and followed by interpolators.

The length of a Trajectory is defined as the time it takes to go from start to finish.

When performing random queries the trajectory needs to do a binary search through all interpolators and blend, giving the random access an O(lg n) complexity.

For accessing multiple consecutive values use TrajectoryInterpolator.

Example of usage:

Transform3D<> T1(Vector3D<>(0,0,0), EAA<>(0,0,0));
Transform3D<> T2(Vector3D<>(1,1,0), EAA<>(1,1,0));
Transform3D<> T3(Vector3D<>(2,0,0), EAA<>(2,2,0));

LinearInterpolator<Transform3D<> >::Ptr cartInt1 =
    ownedPtr(new LinearInterpolator<Transform3D<> >(T1, T2, 1));
LinearInterpolator<Transform3D<> >::Ptr cartInt2 =
    ownedPtr(new LinearInterpolator<Transform3D<> >(T2, T3, 1));
ParabolicBlend<Transform3D<> >::Ptr blend1 =
    ownedPtr(new ParabolicBlend<Transform3D<> >(cartInt1, cartInt2, 0.25));
InterpolatorTrajectory<Transform3D<> > trajectory;
trajectory.add(cartInt1);
trajectory.add(blend1, cartInt2);
std::ofstream out("test.dat");
for (double t = 0; t<=trajectory.duration(); t += dt) {
     Transform3D<> x = trajectory.x(t);
     out<<t<<" "<<x.P()(0)<<" "<<x.P()(1)<<" "<<x.P()(2)<<std::endl;
}
out.close();

__init__(startTime=0)

Construct an empty trajectory

add(*args)

Overload 1:

Adds an interpolator to the end of the trajectory.

When adding the interpolator the Trajectory takes ownership.

Parameters

interpolator (rw::core::Ptr< rw::trajectory::Interpolator< rw::math::Transform3DVector< double > > >) – [in] The interpolator to add

Overload 2:

Adds a blend and an interpolator to the trajectory.

The Blend added is used to blend between what was previously the last Interpolator of the trajectory onto interpolator, which become the new last interpolator of the trajectory. :type blend: rw::core::Ptr< rw::trajectory::Blend< rw::math::Transform3DVector< double > > > :param blend: [in] the blend to add :type interpolator: rw::core::Ptr< rw::trajectory::Interpolator< rw::math::Transform3DVector< double > > > :param interpolator: [in] the interpolator to add

Overload 3:

Append trajectory to the end

When adding a Trajectory all interpolators and blends of trajectory is added in sequence.

Ownership of the interpolator and blends are shared using std::shared_ptr

Parameters

trajectory (rw::trajectory::InterpolatorTrajectory< rw::math::Transform3DVector< double > >) – [in] Trajectory to append

ddx(t)

Acceleration of trajectory at time t

Returns the acceleration of the trajectory at time t \(\in[startTime(),endTime()]\).

Parameters

t (float) – [in] time between startTime() and endTime()

Return type

rw::math::Transform3DVector< double >

Returns

Acceleration

duration()

Total duration of the trajectory.

The duration of the Trajectory corresponds to the time it takes to

run through it.

If the trajectory is empty, then -1 is returned.

dx(t)

Velocity of trajectory at time t

Returns the velocity of the trajectory at time t \(\in[startTime(), endTime()]\).

Parameters

t (float) – [in] time between startTime() and endTime()

Return type

rw::math::Transform3DVector< double >

Returns

Velocity

getIterator(dt=1)

Returns a bi-directional interator for running through the trajectory.

For some trajectory types it may be significantly more efficient to run through using an iterator, rather than using random access.

Parameters

dt (float, optional) – [in] The default time step used when using the ++ or – operators in the iterator

Pointer to the iterator. The pointer has ownership.

getSegment(index)

getSegmentsCount()

Returns the number of segments

A segment contains a description interpolator and the blend used to blend from the previous interpolator

startTime()

Returns the startTime of the trajectory

Return type

float

Returns

Start time

property thisown

The membership flag

x(t)

Position of trajectory at time t

Returns the position of the trajectory at time t \(\in[startTime(), endTime()]\).

Parameters

t (float) – [in] time between startTime() and endTime()

Return type

rw::math::Transform3DVector< double >

Returns

Position

class sdurw_trajectory.sdurw_trajectory.InterpolatorTrajectoryTransform3DVectorCPtr(*args)

Bases: object

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

__init__(*args)

Overload 1:

Default constructor yielding a NULL-pointer.

Overload 2:

Do not take ownership of ptr.

ptr can be null.

The constructor is implicit on purpose.

ddx(t)

deref()

The pointer stored in the object.

duration()

dx(t)

endTime()

Returns the endTime of the trajectory.

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

Return type

float

Returns

The end time

getDeref()

Member access operator.

getIterator(dt=1)

getSegment(index)

getSegmentsCount()

Returns the number of segments

A segment contains a description interpolator and the blend used to blend from the previous interpolator

isNull()

checks if the pointer is null :rtype: boolean :return: Returns true if the pointer is null

isShared()

check if this Ptr has shared ownership or none ownership :rtype: boolean :return: true if Ptr has shared ownership, false if it has no ownership.

startTime()

property thisown

The membership flag

x(t)

class sdurw_trajectory.sdurw_trajectory.InterpolatorTrajectoryTransform3DVectorPtr(*args)

Bases: object

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

__init__(*args)

Overload 1:

Default constructor yielding a NULL-pointer.

Overload 2:

Do not take ownership of ptr.

ptr can be null.

The constructor is implicit on purpose.

add(*args)

Overload 1:

Adds an interpolator to the end of the trajectory.

When adding the interpolator the Trajectory takes ownership.

Parameters

interpolator (rw::core::Ptr< rw::trajectory::Interpolator< rw::math::Transform3DVector< double > > >) – [in] The interpolator to add

Overload 2:

Adds a blend and an interpolator to the trajectory.

The Blend added is used to blend between what was previously the last Interpolator of the trajectory onto interpolator, which become the new last interpolator of the trajectory. :type blend: rw::core::Ptr< rw::trajectory::Blend< rw::math::Transform3DVector< double > > > :param blend: [in] the blend to add :type interpolator: rw::core::Ptr< rw::trajectory::Interpolator< rw::math::Transform3DVector< double > > > :param interpolator: [in] the interpolator to add

Overload 3:

Append trajectory to the end

When adding a Trajectory all interpolators and blends of trajectory is added in sequence.

Ownership of the interpolator and blends are shared using std::shared_ptr

Parameters

trajectory (rw::trajectory::InterpolatorTrajectory< rw::math::Transform3DVector< double > >) – [in] Trajectory to append

cptr()

ddx(t)

deref()

The pointer stored in the object.

duration()

dx(t)

endTime()

Returns the endTime of the trajectory.

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

Return type

float

Returns

The end time

getDeref()

Member access operator.

getIterator(dt=1)

getPath(dt, uniform=True)

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 (float) – [in] Step size

• uniform (boolean, optional) – [in] Whether to sample the path uniformly

Return type

std::vector< rw::math::Transform3DVector< double > >

Returns

The discrete path.

getSegment(index)

getSegmentsCount()

Returns the number of segments

A segment contains a description interpolator and the blend used to blend from the previous interpolator

isNull()

checks if the pointer is null :rtype: boolean :return: Returns true if the pointer is null

isShared()

check if this Ptr has shared ownership or none ownership :rtype: boolean :return: true if Ptr has shared ownership, false if it has no ownership.

startTime()

property thisown

The membership flag

x(t)

class sdurw_trajectory.sdurw_trajectory.InterpolatorTrajectoryTransform3DVector_f(startTime=0)

Bases: TrajectoryTransform3DVector_f

Sequence of interpolators and blends giving a trajectory

A trajectory is defined as a sequence of interpolators and blends. Multiple interpolators can follow each other, whereas a Blend must be preceded and followed by interpolators.

The length of a Trajectory is defined as the time it takes to go from start to finish.

When performing random queries the trajectory needs to do a binary search through all interpolators and blend, giving the random access an O(lg n) complexity.

For accessing multiple consecutive values use TrajectoryInterpolator.

Example of usage:

Transform3D<> T1(Vector3D<>(0,0,0), EAA<>(0,0,0));
Transform3D<> T2(Vector3D<>(1,1,0), EAA<>(1,1,0));
Transform3D<> T3(Vector3D<>(2,0,0), EAA<>(2,2,0));

LinearInterpolator<Transform3D<> >::Ptr cartInt1 =
    ownedPtr(new LinearInterpolator<Transform3D<> >(T1, T2, 1));
LinearInterpolator<Transform3D<> >::Ptr cartInt2 =
    ownedPtr(new LinearInterpolator<Transform3D<> >(T2, T3, 1));
ParabolicBlend<Transform3D<> >::Ptr blend1 =
    ownedPtr(new ParabolicBlend<Transform3D<> >(cartInt1, cartInt2, 0.25));
InterpolatorTrajectory<Transform3D<> > trajectory;
trajectory.add(cartInt1);
trajectory.add(blend1, cartInt2);
std::ofstream out("test.dat");
for (double t = 0; t<=trajectory.duration(); t += dt) {
     Transform3D<> x = trajectory.x(t);
     out<<t<<" "<<x.P()(0)<<" "<<x.P()(1)<<" "<<x.P()(2)<<std::endl;
}
out.close();

__init__(startTime=0)

Construct an empty trajectory

add(*args)

Overload 1:

Adds an interpolator to the end of the trajectory.

When adding the interpolator the Trajectory takes ownership.

Parameters

interpolator (rw::core::Ptr< rw::trajectory::Interpolator< rw::math::Transform3DVector< float > > >) – [in] The interpolator to add

Overload 2:

Adds a blend and an interpolator to the trajectory.

The Blend added is used to blend between what was previously the last Interpolator of the trajectory onto interpolator, which become the new last interpolator of the trajectory. :type blend: rw::core::Ptr< rw::trajectory::Blend< rw::math::Transform3DVector< float > > > :param blend: [in] the blend to add :type interpolator: rw::core::Ptr< rw::trajectory::Interpolator< rw::math::Transform3DVector< float > > > :param interpolator: [in] the interpolator to add

Overload 3:

Append trajectory to the end

When adding a Trajectory all interpolators and blends of trajectory is added in sequence.

Ownership of the interpolator and blends are shared using std::shared_ptr

Parameters

trajectory (rw::trajectory::InterpolatorTrajectory< rw::math::Transform3DVector< float > >) – [in] Trajectory to append

ddx(t)

Acceleration of trajectory at time t

Returns the acceleration of the trajectory at time t \(\in[startTime(),endTime()]\).

Parameters

t (float) – [in] time between startTime() and endTime()

Return type

rw::math::Transform3DVector< float >

Returns

Acceleration

duration()

Total duration of the trajectory.

The duration of the Trajectory corresponds to the time it takes to

run through it.

If the trajectory is empty, then -1 is returned.

dx(t)

Velocity of trajectory at time t

Returns the velocity of the trajectory at time t \(\in[startTime(), endTime()]\).

Parameters

t (float) – [in] time between startTime() and endTime()

Return type

rw::math::Transform3DVector< float >

Returns

Velocity

getIterator(dt=1)

Returns a bi-directional interator for running through the trajectory.

For some trajectory types it may be significantly more efficient to run through using an iterator, rather than using random access.

Parameters

dt (float, optional) – [in] The default time step used when using the ++ or – operators in the iterator

Pointer to the iterator. The pointer has ownership.

getSegment(index)

getSegmentsCount()

Returns the number of segments

A segment contains a description interpolator and the blend used to blend from the previous interpolator

startTime()

Returns the startTime of the trajectory

Return type

float

Returns

Start time

property thisown

The membership flag

x(t)

Position of trajectory at time t

Returns the position of the trajectory at time t \(\in[startTime(), endTime()]\).

Parameters

t (float) – [in] time between startTime() and endTime()

Return type

rw::math::Transform3DVector< float >

Returns

Position

class sdurw_trajectory.sdurw_trajectory.InterpolatorTrajectoryTransform3DVector_fCPtr(*args)

Bases: object

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

__init__(*args)

Overload 1:

Default constructor yielding a NULL-pointer.

Overload 2:

Do not take ownership of ptr.

ptr can be null.

The constructor is implicit on purpose.

ddx(t)

deref()

The pointer stored in the object.

duration()

dx(t)

endTime()

Returns the endTime of the trajectory.

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

Return type

float

Returns

The end time

getDeref()

Member access operator.

getIterator(dt=1)

getSegment(index)

getSegmentsCount()

Returns the number of segments

A segment contains a description interpolator and the blend used to blend from the previous interpolator

isNull()

checks if the pointer is null :rtype: boolean :return: Returns true if the pointer is null

isShared()

check if this Ptr has shared ownership or none ownership :rtype: boolean :return: true if Ptr has shared ownership, false if it has no ownership.

startTime()

property thisown

The membership flag

x(t)

class sdurw_trajectory.sdurw_trajectory.InterpolatorTrajectoryTransform3DVector_fPtr(*args)

Bases: object

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

__init__(*args)

Overload 1:

Default constructor yielding a NULL-pointer.

Overload 2:

Do not take ownership of ptr.

ptr can be null.

The constructor is implicit on purpose.

add(*args)

Overload 1:

Adds an interpolator to the end of the trajectory.

When adding the interpolator the Trajectory takes ownership.

Parameters

interpolator (rw::core::Ptr< rw::trajectory::Interpolator< rw::math::Transform3DVector< float > > >) – [in] The interpolator to add

Overload 2:

Adds a blend and an interpolator to the trajectory.

The Blend added is used to blend between what was previously the last Interpolator of the trajectory onto interpolator, which become the new last interpolator of the trajectory. :type blend: rw::core::Ptr< rw::trajectory::Blend< rw::math::Transform3DVector< float > > > :param blend: [in] the blend to add :type interpolator: rw::core::Ptr< rw::trajectory::Interpolator< rw::math::Transform3DVector< float > > > :param interpolator: [in] the interpolator to add

Overload 3:

Append trajectory to the end

When adding a Trajectory all interpolators and blends of trajectory is added in sequence.

Ownership of the interpolator and blends are shared using std::shared_ptr

Parameters

trajectory (rw::trajectory::InterpolatorTrajectory< rw::math::Transform3DVector< float > >) – [in] Trajectory to append

cptr()

ddx(t)

deref()

The pointer stored in the object.

duration()

dx(t)

endTime()

Returns the endTime of the trajectory.

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

Return type

float

Returns

The end time

getDeref()

Member access operator.

getIterator(dt=1)

getPath(dt, uniform=True)

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 (float) – [in] Step size

• uniform (boolean, optional) – [in] Whether to sample the path uniformly

Return type

std::vector< rw::math::Transform3DVector< float > >

Returns

The discrete path.

getSegment(index)

getSegmentsCount()

Returns the number of segments

A segment contains a description interpolator and the blend used to blend from the previous interpolator

isNull()

checks if the pointer is null :rtype: boolean :return: Returns true if the pointer is null

isShared()

check if this Ptr has shared ownership or none ownership :rtype: boolean :return: true if Ptr has shared ownership, false if it has no ownership.

startTime()

property thisown

The membership flag

x(t)

class sdurw_trajectory.sdurw_trajectory.InterpolatorTrajectoryTransform3D_f(startTime=0)

Bases: TrajectoryTransform3D_f

Sequence of interpolators and blends giving a trajectory

A trajectory is defined as a sequence of interpolators and blends. Multiple interpolators can follow each other, whereas a Blend must be preceded and followed by interpolators.

The length of a Trajectory is defined as the time it takes to go from start to finish.

When performing random queries the trajectory needs to do a binary search through all interpolators and blend, giving the random access an O(lg n) complexity.

For accessing multiple consecutive values use TrajectoryInterpolator.

Example of usage:

Transform3D<> T1(Vector3D<>(0,0,0), EAA<>(0,0,0));
Transform3D<> T2(Vector3D<>(1,1,0), EAA<>(1,1,0));
Transform3D<> T3(Vector3D<>(2,0,0), EAA<>(2,2,0));

LinearInterpolator<Transform3D<> >::Ptr cartInt1 =
    ownedPtr(new LinearInterpolator<Transform3D<> >(T1, T2, 1));
LinearInterpolator<Transform3D<> >::Ptr cartInt2 =
    ownedPtr(new LinearInterpolator<Transform3D<> >(T2, T3, 1));
ParabolicBlend<Transform3D<> >::Ptr blend1 =
    ownedPtr(new ParabolicBlend<Transform3D<> >(cartInt1, cartInt2, 0.25));
InterpolatorTrajectory<Transform3D<> > trajectory;
trajectory.add(cartInt1);
trajectory.add(blend1, cartInt2);
std::ofstream out("test.dat");
for (double t = 0; t<=trajectory.duration(); t += dt) {
     Transform3D<> x = trajectory.x(t);
     out<<t<<" "<<x.P()(0)<<" "<<x.P()(1)<<" "<<x.P()(2)<<std::endl;
}
out.close();

__init__(startTime=0)

Construct an empty trajectory

add(*args)

Overload 1:

Adds an interpolator to the end of the trajectory.

When adding the interpolator the Trajectory takes ownership.

Parameters

interpolator (rw::core::Ptr< rw::trajectory::Interpolator< rw::math::Transform3D< float > > >) – [in] The interpolator to add

Overload 2:

Adds a blend and an interpolator to the trajectory.

The Blend added is used to blend between what was previously the last Interpolator of the trajectory onto interpolator, which become the new last interpolator of the trajectory. :type blend: rw::core::Ptr< rw::trajectory::Blend< rw::math::Transform3D< float > > > :param blend: [in] the blend to add :type interpolator: rw::core::Ptr< rw::trajectory::Interpolator< rw::math::Transform3D< float > > > :param interpolator: [in] the interpolator to add

Overload 3:

Append trajectory to the end

When adding a Trajectory all interpolators and blends of trajectory is added in sequence.

Ownership of the interpolator and blends are shared using std::shared_ptr

Parameters

trajectory (rw::trajectory::InterpolatorTrajectory< rw::math::Transform3D< float > >) – [in] Trajectory to append

ddx(t)

Acceleration of trajectory at time t

Returns the acceleration of the trajectory at time t \(\in[startTime(),endTime()]\).

Parameters

t (float) – [in] time between startTime() and endTime()

Return type

rw::math::Transform3D< float >

Returns

Acceleration

duration()

Total duration of the trajectory.

The duration of the Trajectory corresponds to the time it takes to

run through it.

If the trajectory is empty, then -1 is returned.

dx(t)

Velocity of trajectory at time t

Returns the velocity of the trajectory at time t \(\in[startTime(), endTime()]\).

Parameters

t (float) – [in] time between startTime() and endTime()

Return type

rw::math::Transform3D< float >

Returns

Velocity

getIterator(dt=1)

Returns a bi-directional interator for running through the trajectory.

For some trajectory types it may be significantly more efficient to run through using an iterator, rather than using random access.

Parameters

dt (float, optional) – [in] The default time step used when using the ++ or – operators in the iterator

Pointer to the iterator. The pointer has ownership.

getSegment(index)

getSegmentsCount()

Returns the number of segments

A segment contains a description interpolator and the blend used to blend from the previous interpolator

startTime()

Returns the startTime of the trajectory

Return type

float

Returns

Start time

property thisown

The membership flag

x(t)

Position of trajectory at time t

Returns the position of the trajectory at time t \(\in[startTime(), endTime()]\).

Parameters

t (float) – [in] time between startTime() and endTime()

Return type

rw::math::Transform3D< float >

Returns

Position

class sdurw_trajectory.sdurw_trajectory.InterpolatorTrajectoryTransform3D_fCPtr(*args)

Bases: object

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

__init__(*args)

Overload 1:

Default constructor yielding a NULL-pointer.

Overload 2:

Do not take ownership of ptr.

ptr can be null.

The constructor is implicit on purpose.

ddx(t)

deref()

The pointer stored in the object.

duration()

dx(t)

endTime()

Returns the endTime of the trajectory.

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

Return type

float

Returns

The end time

getDeref()

Member access operator.

getIterator(dt=1)

getSegment(index)

getSegmentsCount()

Returns the number of segments

A segment contains a description interpolator and the blend used to blend from the previous interpolator

isNull()

checks if the pointer is null :rtype: boolean :return: Returns true if the pointer is null

isShared()

check if this Ptr has shared ownership or none ownership :rtype: boolean :return: true if Ptr has shared ownership, false if it has no ownership.

startTime()

property thisown

The membership flag

x(t)

class sdurw_trajectory.sdurw_trajectory.InterpolatorTrajectoryTransform3D_fPtr(*args)

Bases: object

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

__init__(*args)

Overload 1:

Default constructor yielding a NULL-pointer.

Overload 2:

Do not take ownership of ptr.

ptr can be null.

The constructor is implicit on purpose.

add(*args)

Overload 1:

Adds an interpolator to the end of the trajectory.

When adding the interpolator the Trajectory takes ownership.

Parameters

interpolator (rw::core::Ptr< rw::trajectory::Interpolator< rw::math::Transform3D< float > > >) – [in] The interpolator to add

Overload 2:

Adds a blend and an interpolator to the trajectory.

The Blend added is used to blend between what was previously the last Interpolator of the trajectory onto interpolator, which become the new last interpolator of the trajectory. :type blend: rw::core::Ptr< rw::trajectory::Blend< rw::math::Transform3D< float > > > :param blend: [in] the blend to add :type interpolator: rw::core::Ptr< rw::trajectory::Interpolator< rw::math::Transform3D< float > > > :param interpolator: [in] the interpolator to add

Overload 3:

Append trajectory to the end

When adding a Trajectory all interpolators and blends of trajectory is added in sequence.

Ownership of the interpolator and blends are shared using std::shared_ptr

Parameters

trajectory (rw::trajectory::InterpolatorTrajectory< rw::math::Transform3D< float > >) – [in] Trajectory to append

cptr()

ddx(t)

deref()

The pointer stored in the object.

duration()

dx(t)

endTime()

Returns the endTime of the trajectory.

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

Return type

float

Returns

The end time

getDeref()

Member access operator.

getIterator(dt=1)

getPath(dt, uniform=True)

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 (float) – [in] Step size

• uniform (boolean, optional) – [in] Whether to sample the path uniformly

Return type

std::vector< rw::math::Transform3D< float > >

Returns

The discrete path.

getSegment(index)

getSegmentsCount()

Returns the number of segments

A segment contains a description interpolator and the blend used to blend from the previous interpolator

isNull()

checks if the pointer is null :rtype: boolean :return: Returns true if the pointer is null

isShared()

check if this Ptr has shared ownership or none ownership :rtype: boolean :return: true if Ptr has shared ownership, false if it has no ownership.

startTime()

property thisown

The membership flag

x(t)

class sdurw_trajectory.sdurw_trajectory.InterpolatorTrajectoryVector2D(startTime=0)

Bases: TrajectoryVector2D

Sequence of interpolators and blends giving a trajectory

A trajectory is defined as a sequence of interpolators and blends. Multiple interpolators can follow each other, whereas a Blend must be preceded and followed by interpolators.

The length of a Trajectory is defined as the time it takes to go from start to finish.

When performing random queries the trajectory needs to do a binary search through all interpolators and blend, giving the random access an O(lg n) complexity.

For accessing multiple consecutive values use TrajectoryInterpolator.

Example of usage:

Transform3D<> T1(Vector3D<>(0,0,0), EAA<>(0,0,0));
Transform3D<> T2(Vector3D<>(1,1,0), EAA<>(1,1,0));
Transform3D<> T3(Vector3D<>(2,0,0), EAA<>(2,2,0));

LinearInterpolator<Transform3D<> >::Ptr cartInt1 =
    ownedPtr(new LinearInterpolator<Transform3D<> >(T1, T2, 1));
LinearInterpolator<Transform3D<> >::Ptr cartInt2 =
    ownedPtr(new LinearInterpolator<Transform3D<> >(T2, T3, 1));
ParabolicBlend<Transform3D<> >::Ptr blend1 =
    ownedPtr(new ParabolicBlend<Transform3D<> >(cartInt1, cartInt2, 0.25));
InterpolatorTrajectory<Transform3D<> > trajectory;
trajectory.add(cartInt1);
trajectory.add(blend1, cartInt2);
std::ofstream out("test.dat");
for (double t = 0; t<=trajectory.duration(); t += dt) {
     Transform3D<> x = trajectory.x(t);
     out<<t<<" "<<x.P()(0)<<" "<<x.P()(1)<<" "<<x.P()(2)<<std::endl;
}
out.close();

__init__(startTime=0)

Construct an empty trajectory

add(*args)

Overload 1:

Adds an interpolator to the end of the trajectory.

When adding the interpolator the Trajectory takes ownership.

Parameters

interpolator (rw::core::Ptr< rw::trajectory::Interpolator< rw::math::Vector2D< double > > >) – [in] The interpolator to add

Overload 2:

Adds a blend and an interpolator to the trajectory.

The Blend added is used to blend between what was previously the last Interpolator of the trajectory onto interpolator, which become the new last interpolator of the trajectory. :type blend: rw::core::Ptr< rw::trajectory::Blend< rw::math::Vector2D< double > > > :param blend: [in] the blend to add :type interpolator: rw::core::Ptr< rw::trajectory::Interpolator< rw::math::Vector2D< double > > > :param interpolator: [in] the interpolator to add

Overload 3:

Append trajectory to the end

When adding a Trajectory all interpolators and blends of trajectory is added in sequence.

Ownership of the interpolator and blends are shared using std::shared_ptr

Parameters

trajectory (rw::trajectory::InterpolatorTrajectory< rw::math::Vector2D< double > >) – [in] Trajectory to append

ddx(t)

Acceleration of trajectory at time t

Returns the acceleration of the trajectory at time t \(\in[startTime(),endTime()]\).

Parameters

t (float) – [in] time between startTime() and endTime()

Return type

rw::math::Vector2D< double >

Returns

Acceleration

duration()

Total duration of the trajectory.

The duration of the Trajectory corresponds to the time it takes to

run through it.

If the trajectory is empty, then -1 is returned.

dx(t)

Velocity of trajectory at time t

Returns the velocity of the trajectory at time t \(\in[startTime(), endTime()]\).

Parameters

t (float) – [in] time between startTime() and endTime()

Return type

rw::math::Vector2D< double >

Returns

Velocity

getIterator(dt=1)

Returns a bi-directional interator for running through the trajectory.

For some trajectory types it may be significantly more efficient to run through using an iterator, rather than using random access.

Parameters

dt (float, optional) – [in] The default time step used when using the ++ or – operators in the iterator

Pointer to the iterator. The pointer has ownership.

getSegment(index)

getSegmentsCount()

Returns the number of segments

A segment contains a description interpolator and the blend used to blend from the previous interpolator

startTime()

Returns the startTime of the trajectory

Return type

float

Returns

Start time

property thisown

The membership flag

x(t)

Position of trajectory at time t

Returns the position of the trajectory at time t \(\in[startTime(), endTime()]\).

Parameters

t (float) – [in] time between startTime() and endTime()

Return type

rw::math::Vector2D< double >

Returns

Position

class sdurw_trajectory.sdurw_trajectory.InterpolatorTrajectoryVector2DCPtr(*args)

Bases: object

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

__init__(*args)

Overload 1:

Default constructor yielding a NULL-pointer.

Overload 2:

Do not take ownership of ptr.

ptr can be null.

The constructor is implicit on purpose.

ddx(t)

deref()

The pointer stored in the object.

duration()

dx(t)

endTime()

Returns the endTime of the trajectory.

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

Return type

float

Returns

The end time

getDeref()

Member access operator.

getIterator(dt=1)

getSegment(index)

getSegmentsCount()

Returns the number of segments

A segment contains a description interpolator and the blend used to blend from the previous interpolator

isNull()

checks if the pointer is null :rtype: boolean :return: Returns true if the pointer is null

isShared()

check if this Ptr has shared ownership or none ownership :rtype: boolean :return: true if Ptr has shared ownership, false if it has no ownership.

startTime()

property thisown

The membership flag

x(t)

class sdurw_trajectory.sdurw_trajectory.InterpolatorTrajectoryVector2DPtr(*args)

Bases: object

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

__init__(*args)

Overload 1:

Default constructor yielding a NULL-pointer.

Overload 2:

Do not take ownership of ptr.

ptr can be null.

The constructor is implicit on purpose.

add(*args)

Overload 1:

Adds an interpolator to the end of the trajectory.

When adding the interpolator the Trajectory takes ownership.

Parameters

interpolator (rw::core::Ptr< rw::trajectory::Interpolator< rw::math::Vector2D< double > > >) – [in] The interpolator to add

Overload 2:

Adds a blend and an interpolator to the trajectory.

The Blend added is used to blend between what was previously the last Interpolator of the trajectory onto interpolator, which become the new last interpolator of the trajectory. :type blend: rw::core::Ptr< rw::trajectory::Blend< rw::math::Vector2D< double > > > :param blend: [in] the blend to add :type interpolator: rw::core::Ptr< rw::trajectory::Interpolator< rw::math::Vector2D< double > > > :param interpolator: [in] the interpolator to add

Overload 3:

Append trajectory to the end

When adding a Trajectory all interpolators and blends of trajectory is added in sequence.

Ownership of the interpolator and blends are shared using std::shared_ptr

Parameters

trajectory (rw::trajectory::InterpolatorTrajectory< rw::math::Vector2D< double > >) – [in] Trajectory to append

cptr()

ddx(t)

deref()

The pointer stored in the object.

duration()

dx(t)

endTime()

Returns the endTime of the trajectory.

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

Return type

float

Returns

The end time

getDeref()

Member access operator.

getIterator(dt=1)

getPath(dt, uniform=True)

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 (float) – [in] Step size

• uniform (boolean, optional) – [in] Whether to sample the path uniformly

Return type

std::vector< rw::math::Vector2D< double > >

Returns

The discrete path.

getSegment(index)

getSegmentsCount()

Returns the number of segments

A segment contains a description interpolator and the blend used to blend from the previous interpolator

isNull()

checks if the pointer is null :rtype: boolean :return: Returns true if the pointer is null

isShared()

check if this Ptr has shared ownership or none ownership :rtype: boolean :return: true if Ptr has shared ownership, false if it has no ownership.

startTime()

property thisown

The membership flag

x(t)

class sdurw_trajectory.sdurw_trajectory.InterpolatorTrajectoryVector2D_f(startTime=0)

Bases: TrajectoryVector2D_f

Sequence of interpolators and blends giving a trajectory

A trajectory is defined as a sequence of interpolators and blends. Multiple interpolators can follow each other, whereas a Blend must be preceded and followed by interpolators.

The length of a Trajectory is defined as the time it takes to go from start to finish.

When performing random queries the trajectory needs to do a binary search through all interpolators and blend, giving the random access an O(lg n) complexity.

For accessing multiple consecutive values use TrajectoryInterpolator.

Example of usage:

Transform3D<> T1(Vector3D<>(0,0,0), EAA<>(0,0,0));
Transform3D<> T2(Vector3D<>(1,1,0), EAA<>(1,1,0));
Transform3D<> T3(Vector3D<>(2,0,0), EAA<>(2,2,0));

LinearInterpolator<Transform3D<> >::Ptr cartInt1 =
    ownedPtr(new LinearInterpolator<Transform3D<> >(T1, T2, 1));
LinearInterpolator<Transform3D<> >::Ptr cartInt2 =
    ownedPtr(new LinearInterpolator<Transform3D<> >(T2, T3, 1));
ParabolicBlend<Transform3D<> >::Ptr blend1 =
    ownedPtr(new ParabolicBlend<Transform3D<> >(cartInt1, cartInt2, 0.25));
InterpolatorTrajectory<Transform3D<> > trajectory;
trajectory.add(cartInt1);
trajectory.add(blend1, cartInt2);
std::ofstream out("test.dat");
for (double t = 0; t<=trajectory.duration(); t += dt) {
     Transform3D<> x = trajectory.x(t);
     out<<t<<" "<<x.P()(0)<<" "<<x.P()(1)<<" "<<x.P()(2)<<std::endl;
}
out.close();

__init__(startTime=0)

Construct an empty trajectory

add(*args)

Overload 1:

Adds an interpolator to the end of the trajectory.

When adding the interpolator the Trajectory takes ownership.

Parameters

interpolator (rw::core::Ptr< rw::trajectory::Interpolator< rw::math::Vector2D< float > > >) – [in] The interpolator to add

Overload 2:

Adds a blend and an interpolator to the trajectory.

The Blend added is used to blend between what was previously the last Interpolator of the trajectory onto interpolator, which become the new last interpolator of the trajectory. :type blend: rw::core::Ptr< rw::trajectory::Blend< rw::math::Vector2D< float > > > :param blend: [in] the blend to add :type interpolator: rw::core::Ptr< rw::trajectory::Interpolator< rw::math::Vector2D< float > > > :param interpolator: [in] the interpolator to add

Overload 3:

Append trajectory to the end

When adding a Trajectory all interpolators and blends of trajectory is added in sequence.

Ownership of the interpolator and blends are shared using std::shared_ptr

Parameters

trajectory (rw::trajectory::InterpolatorTrajectory< rw::math::Vector2D< float > >) – [in] Trajectory to append

ddx(t)

Acceleration of trajectory at time t

Returns the acceleration of the trajectory at time t \(\in[startTime(),endTime()]\).

Parameters

t (float) – [in] time between startTime() and endTime()

Return type

rw::math::Vector2D< float >

Returns

Acceleration

duration()

Total duration of the trajectory.

The duration of the Trajectory corresponds to the time it takes to

run through it.

If the trajectory is empty, then -1 is returned.

dx(t)

Velocity of trajectory at time t

Returns the velocity of the trajectory at time t \(\in[startTime(), endTime()]\).

Parameters

t (float) – [in] time between startTime() and endTime()

Return type

rw::math::Vector2D< float >

Returns

Velocity

getIterator(dt=1)

Returns a bi-directional interator for running through the trajectory.

For some trajectory types it may be significantly more efficient to run through using an iterator, rather than using random access.

Parameters

dt (float, optional) – [in] The default time step used when using the ++ or – operators in the iterator

Pointer to the iterator. The pointer has ownership.

getSegment(index)

getSegmentsCount()

Returns the number of segments

A segment contains a description interpolator and the blend used to blend from the previous interpolator

startTime()

Returns the startTime of the trajectory

Return type

float

Returns

Start time

property thisown

The membership flag

x(t)

Position of trajectory at time t

Returns the position of the trajectory at time t \(\in[startTime(), endTime()]\).

Parameters

t (float) – [in] time between startTime() and endTime()

Return type

rw::math::Vector2D< float >

Returns

Position

class sdurw_trajectory.sdurw_trajectory.InterpolatorTrajectoryVector2D_fCPtr(*args)

Bases: object

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

__init__(*args)

Overload 1:

Default constructor yielding a NULL-pointer.

Overload 2:

Do not take ownership of ptr.

ptr can be null.

The constructor is implicit on purpose.

ddx(t)

deref()

The pointer stored in the object.

duration()

dx(t)

endTime()

Returns the endTime of the trajectory.

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

Return type

float

Returns

The end time

getDeref()

Member access operator.

getIterator(dt=1)

getSegment(index)

getSegmentsCount()

Returns the number of segments

A segment contains a description interpolator and the blend used to blend from the previous interpolator

isNull()

checks if the pointer is null :rtype: boolean :return: Returns true if the pointer is null

isShared()

check if this Ptr has shared ownership or none ownership :rtype: boolean :return: true if Ptr has shared ownership, false if it has no ownership.

startTime()

property thisown

The membership flag

x(t)

class sdurw_trajectory.sdurw_trajectory.InterpolatorTrajectoryVector2D_fPtr(*args)

Bases: object

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

__init__(*args)

Overload 1:

Default constructor yielding a NULL-pointer.

Overload 2:

Do not take ownership of ptr.

ptr can be null.

The constructor is implicit on purpose.

add(*args)

Overload 1:

Adds an interpolator to the end of the trajectory.

When adding the interpolator the Trajectory takes ownership.

Parameters

interpolator (rw::core::Ptr< rw::trajectory::Interpolator< rw::math::Vector2D< float > > >) – [in] The interpolator to add

Overload 2:

Adds a blend and an interpolator to the trajectory.

The Blend added is used to blend between what was previously the last Interpolator of the trajectory onto interpolator, which become the new last interpolator of the trajectory. :type blend: rw::core::Ptr< rw::trajectory::Blend< rw::math::Vector2D< float > > > :param blend: [in] the blend to add :type interpolator: rw::core::Ptr< rw::trajectory::Interpolator< rw::math::Vector2D< float > > > :param interpolator: [in] the interpolator to add

Overload 3:

Append trajectory to the end

When adding a Trajectory all interpolators and blends of trajectory is added in sequence.

Ownership of the interpolator and blends are shared using std::shared_ptr

Parameters

trajectory (rw::trajectory::InterpolatorTrajectory< rw::math::Vector2D< float > >) – [in] Trajectory to append

cptr()

ddx(t)

deref()

The pointer stored in the object.

duration()

dx(t)

endTime()

Returns the endTime of the trajectory.

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

Return type

float

Returns

The end time

getDeref()

Member access operator.

getIterator(dt=1)

getPath(dt, uniform=True)

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 (float) – [in] Step size

• uniform (boolean, optional) – [in] Whether to sample the path uniformly

Return type

std::vector< rw::math::Vector2D< float > >

Returns

The discrete path.

getSegment(index)

getSegmentsCount()

Returns the number of segments

A segment contains a description interpolator and the blend used to blend from the previous interpolator

isNull()

checks if the pointer is null :rtype: boolean :return: Returns true if the pointer is null

isShared()

check if this Ptr has shared ownership or none ownership :rtype: boolean :return: true if Ptr has shared ownership, false if it has no ownership.

startTime()

property thisown

The membership flag

x(t)

class sdurw_trajectory.sdurw_trajectory.InterpolatorTrajectoryVector3D(startTime=0)

Bases: TrajectoryVector3D

Sequence of interpolators and blends giving a trajectory

A trajectory is defined as a sequence of interpolators and blends. Multiple interpolators can follow each other, whereas a Blend must be preceded and followed by interpolators.

The length of a Trajectory is defined as the time it takes to go from start to finish.

When performing random queries the trajectory needs to do a binary search through all interpolators and blend, giving the random access an O(lg n) complexity.

For accessing multiple consecutive values use TrajectoryInterpolator.

Example of usage:

Transform3D<> T1(Vector3D<>(0,0,0), EAA<>(0,0,0));
Transform3D<> T2(Vector3D<>(1,1,0), EAA<>(1,1,0));
Transform3D<> T3(Vector3D<>(2,0,0), EAA<>(2,2,0));

LinearInterpolator<Transform3D<> >::Ptr cartInt1 =
    ownedPtr(new LinearInterpolator<Transform3D<> >(T1, T2, 1));
LinearInterpolator<Transform3D<> >::Ptr cartInt2 =
    ownedPtr(new LinearInterpolator<Transform3D<> >(T2, T3, 1));
ParabolicBlend<Transform3D<> >::Ptr blend1 =
    ownedPtr(new ParabolicBlend<Transform3D<> >(cartInt1, cartInt2, 0.25));
InterpolatorTrajectory<Transform3D<> > trajectory;
trajectory.add(cartInt1);
trajectory.add(blend1, cartInt2);
std::ofstream out("test.dat");
for (double t = 0; t<=trajectory.duration(); t += dt) {
     Transform3D<> x = trajectory.x(t);
     out<<t<<" "<<x.P()(0)<<" "<<x.P()(1)<<" "<<x.P()(2)<<std::endl;
}
out.close();

__init__(startTime=0)

Construct an empty trajectory

add(*args)

Overload 1:

Adds an interpolator to the end of the trajectory.

When adding the interpolator the Trajectory takes ownership.

Parameters

interpolator (rw::core::Ptr< rw::trajectory::Interpolator< rw::math::Vector3D< double > > >) – [in] The interpolator to add

Overload 2:

Adds a blend and an interpolator to the trajectory.

The Blend added is used to blend between what was previously the last Interpolator of the trajectory onto interpolator, which become the new last interpolator of the trajectory. :type blend: rw::core::Ptr< rw::trajectory::Blend< rw::math::Vector3D< double > > > :param blend: [in] the blend to add :type interpolator: rw::core::Ptr< rw::trajectory::Interpolator< rw::math::Vector3D< double > > > :param interpolator: [in] the interpolator to add

Overload 3:

Append trajectory to the end

When adding a Trajectory all interpolators and blends of trajectory is added in sequence.

Ownership of the interpolator and blends are shared using std::shared_ptr

Parameters

trajectory (rw::trajectory::InterpolatorTrajectory< rw::math::Vector3D< double > >) – [in] Trajectory to append

ddx(t)

Acceleration of trajectory at time t

Returns the acceleration of the trajectory at time t \(\in[startTime(),endTime()]\).

Parameters

t (float) – [in] time between startTime() and endTime()

Return type

rw::math::Vector3D< double >

Returns

Acceleration

duration()

Total duration of the trajectory.

The duration of the Trajectory corresponds to the time it takes to

run through it.

If the trajectory is empty, then -1 is returned.

dx(t)

Velocity of trajectory at time t

Returns the velocity of the trajectory at time t \(\in[startTime(), endTime()]\).

Parameters

t (float) – [in] time between startTime() and endTime()

Return type

rw::math::Vector3D< double >

Returns

Velocity

getIterator(dt=1)

Returns a bi-directional interator for running through the trajectory.

For some trajectory types it may be significantly more efficient to run through using an iterator, rather than using random access.

Parameters

dt (float, optional) – [in] The default time step used when using the ++ or – operators in the iterator

Pointer to the iterator. The pointer has ownership.

getSegment(index)

getSegmentsCount()

Returns the number of segments

A segment contains a description interpolator and the blend used to blend from the previous interpolator

startTime()

Returns the startTime of the trajectory

Return type

float

Returns

Start time

property thisown

The membership flag

x(t)

Position of trajectory at time t

Returns the position of the trajectory at time t \(\in[startTime(), endTime()]\).

Parameters

t (float) – [in] time between startTime() and endTime()

Return type

rw::math::Vector3D< double >

Returns

Position

class sdurw_trajectory.sdurw_trajectory.InterpolatorTrajectoryVector3DCPtr(*args)

Bases: object

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

__init__(*args)

Overload 1:

Default constructor yielding a NULL-pointer.

Overload 2:

Do not take ownership of ptr.

ptr can be null.

The constructor is implicit on purpose.

ddx(t)

deref()

The pointer stored in the object.

duration()

dx(t)

endTime()

Returns the endTime of the trajectory.

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

Return type

float

Returns

The end time

getDeref()

Member access operator.

getIterator(dt=1)

getSegment(index)

getSegmentsCount()

Returns the number of segments

A segment contains a description interpolator and the blend used to blend from the previous interpolator

isNull()

checks if the pointer is null :rtype: boolean :return: Returns true if the pointer is null

isShared()

check if this Ptr has shared ownership or none ownership :rtype: boolean :return: true if Ptr has shared ownership, false if it has no ownership.

startTime()

property thisown

The membership flag

x(t)

class sdurw_trajectory.sdurw_trajectory.InterpolatorTrajectoryVector3DPtr(*args)

Bases: object

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

__init__(*args)

Overload 1:

Default constructor yielding a NULL-pointer.

Overload 2:

Do not take ownership of ptr.

ptr can be null.

The constructor is implicit on purpose.

add(*args)

Overload 1:

Adds an interpolator to the end of the trajectory.

When adding the interpolator the Trajectory takes ownership.

Parameters

interpolator (rw::core::Ptr< rw::trajectory::Interpolator< rw::math::Vector3D< double > > >) – [in] The interpolator to add

Overload 2:

Adds a blend and an interpolator to the trajectory.

The Blend added is used to blend between what was previously the last Interpolator of the trajectory onto interpolator, which become the new last interpolator of the trajectory. :type blend: rw::core::Ptr< rw::trajectory::Blend< rw::math::Vector3D< double > > > :param blend: [in] the blend to add :type interpolator: rw::core::Ptr< rw::trajectory::Interpolator< rw::math::Vector3D< double > > > :param interpolator: [in] the interpolator to add

Overload 3:

Append trajectory to the end

When adding a Trajectory all interpolators and blends of trajectory is added in sequence.

Ownership of the interpolator and blends are shared using std::shared_ptr

Parameters

trajectory (rw::trajectory::InterpolatorTrajectory< rw::math::Vector3D< double > >) – [in] Trajectory to append

cptr()

ddx(t)

deref()

The pointer stored in the object.

duration()

dx(t)

endTime()

Returns the endTime of the trajectory.

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

Return type

float

Returns

The end time

getDeref()

Member access operator.

getIterator(dt=1)

getPath(dt, uniform=True)

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 (float) – [in] Step size

• uniform (boolean, optional) – [in] Whether to sample the path uniformly

Return type

std::vector< rw::math::Vector3D< double > >

Returns

The discrete path.

getSegment(index)

getSegmentsCount()

Returns the number of segments

A segment contains a description interpolator and the blend used to blend from the previous interpolator

isNull()

checks if the pointer is null :rtype: boolean :return: Returns true if the pointer is null

isShared()

check if this Ptr has shared ownership or none ownership :rtype: boolean :return: true if Ptr has shared ownership, false if it has no ownership.

startTime()

property thisown

The membership flag

x(t)

class sdurw_trajectory.sdurw_trajectory.InterpolatorTrajectoryVector3D_f(startTime=0)

Bases: TrajectoryVector3D_f

Sequence of interpolators and blends giving a trajectory

A trajectory is defined as a sequence of interpolators and blends. Multiple interpolators can follow each other, whereas a Blend must be preceded and followed by interpolators.

The length of a Trajectory is defined as the time it takes to go from start to finish.

When performing random queries the trajectory needs to do a binary search through all interpolators and blend, giving the random access an O(lg n) complexity.

For accessing multiple consecutive values use TrajectoryInterpolator.

Example of usage:

Transform3D<> T1(Vector3D<>(0,0,0), EAA<>(0,0,0));
Transform3D<> T2(Vector3D<>(1,1,0), EAA<>(1,1,0));
Transform3D<> T3(Vector3D<>(2,0,0), EAA<>(2,2,0));

LinearInterpolator<Transform3D<> >::Ptr cartInt1 =
    ownedPtr(new LinearInterpolator<Transform3D<> >(T1, T2, 1));
LinearInterpolator<Transform3D<> >::Ptr cartInt2 =
    ownedPtr(new LinearInterpolator<Transform3D<> >(T2, T3, 1));
ParabolicBlend<Transform3D<> >::Ptr blend1 =
    ownedPtr(new ParabolicBlend<Transform3D<> >(cartInt1, cartInt2, 0.25));
InterpolatorTrajectory<Transform3D<> > trajectory;
trajectory.add(cartInt1);
trajectory.add(blend1, cartInt2);
std::ofstream out("test.dat");
for (double t = 0; t<=trajectory.duration(); t += dt) {
     Transform3D<> x = trajectory.x(t);
     out<<t<<" "<<x.P()(0)<<" "<<x.P()(1)<<" "<<x.P()(2)<<std::endl;
}
out.close();

__init__(startTime=0)

Construct an empty trajectory

add(*args)

Overload 1:

Adds an interpolator to the end of the trajectory.

When adding the interpolator the Trajectory takes ownership.

Parameters

interpolator (rw::core::Ptr< rw::trajectory::Interpolator< rw::math::Vector3D< float > > >) – [in] The interpolator to add

Overload 2:

Adds a blend and an interpolator to the trajectory.

The Blend added is used to blend between what was previously the last Interpolator of the trajectory onto interpolator, which become the new last interpolator of the trajectory. :type blend: rw::core::Ptr< rw::trajectory::Blend< rw::math::Vector3D< float > > > :param blend: [in] the blend to add :type interpolator: rw::core::Ptr< rw::trajectory::Interpolator< rw::math::Vector3D< float > > > :param interpolator: [in] the interpolator to add

Overload 3:

Append trajectory to the end

When adding a Trajectory all interpolators and blends of trajectory is added in sequence.

Ownership of the interpolator and blends are shared using std::shared_ptr

Parameters

trajectory (rw::trajectory::InterpolatorTrajectory< rw::math::Vector3D< float > >) – [in] Trajectory to append

ddx(t)

Acceleration of trajectory at time t

Returns the acceleration of the trajectory at time t \(\in[startTime(),endTime()]\).

Parameters

t (float) – [in] time between startTime() and endTime()

Return type

rw::math::Vector3D< float >

Returns

Acceleration

duration()

Total duration of the trajectory.

The duration of the Trajectory corresponds to the time it takes to

run through it.

If the trajectory is empty, then -1 is returned.

dx(t)

Velocity of trajectory at time t

Returns the velocity of the trajectory at time t \(\in[startTime(), endTime()]\).

Parameters

t (float) – [in] time between startTime() and endTime()

Return type

rw::math::Vector3D< float >

Returns

Velocity

getIterator(dt=1)

Returns a bi-directional interator for running through the trajectory.

For some trajectory types it may be significantly more efficient to run through using an iterator, rather than using random access.

Parameters

dt (float, optional) – [in] The default time step used when using the ++ or – operators in the iterator

Pointer to the iterator. The pointer has ownership.

getSegment(index)

getSegmentsCount()

Returns the number of segments

A segment contains a description interpolator and the blend used to blend from the previous interpolator

startTime()

Returns the startTime of the trajectory

Return type

float

Returns

Start time

property thisown

The membership flag

x(t)

Position of trajectory at time t

Returns the position of the trajectory at time t \(\in[startTime(), endTime()]\).

Parameters

t (float) – [in] time between startTime() and endTime()

Return type

rw::math::Vector3D< float >

Returns

Position

class sdurw_trajectory.sdurw_trajectory.InterpolatorTrajectoryVector3D_fCPtr(*args)

Bases: object

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

__init__(*args)

Overload 1:

Default constructor yielding a NULL-pointer.

Overload 2:

Do not take ownership of ptr.

ptr can be null.

The constructor is implicit on purpose.

ddx(t)

deref()

The pointer stored in the object.

duration()

dx(t)

endTime()

Returns the endTime of the trajectory.

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

Return type

float

Returns

The end time

getDeref()

Member access operator.

getIterator(dt=1)

getSegment(index)

getSegmentsCount()

Returns the number of segments

A segment contains a description interpolator and the blend used to blend from the previous interpolator

isNull()

checks if the pointer is null :rtype: boolean :return: Returns true if the pointer is null

isShared()

check if this Ptr has shared ownership or none ownership :rtype: boolean :return: true if Ptr has shared ownership, false if it has no ownership.

startTime()

property thisown

The membership flag

x(t)

class sdurw_trajectory.sdurw_trajectory.InterpolatorTrajectoryVector3D_fPtr(*args)

Bases: object

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

__init__(*args)

Overload 1:

Default constructor yielding a NULL-pointer.

Overload 2:

Do not take ownership of ptr.

ptr can be null.

The constructor is implicit on purpose.

add(*args)

Overload 1:

Adds an interpolator to the end of the trajectory.

When adding the interpolator the Trajectory takes ownership.

Parameters

interpolator (rw::core::Ptr< rw::trajectory::Interpolator< rw::math::Vector3D< float > > >) – [in] The interpolator to add

Overload 2:

Adds a blend and an interpolator to the trajectory.

The Blend added is used to blend between what was previously the last Interpolator of the trajectory onto interpolator, which become the new last interpolator of the trajectory. :type blend: rw::core::Ptr< rw::trajectory::Blend< rw::math::Vector3D< float > > > :param blend: [in] the blend to add :type interpolator: rw::core::Ptr< rw::trajectory::Interpolator< rw::math::Vector3D< float > > > :param interpolator: [in] the interpolator to add

Overload 3:

Append trajectory to the end

When adding a Trajectory all interpolators and blends of trajectory is added in sequence.

Ownership of the interpolator and blends are shared using std::shared_ptr

Parameters

trajectory (rw::trajectory::InterpolatorTrajectory< rw::math::Vector3D< float > >) – [in] Trajectory to append

cptr()

ddx(t)

deref()

The pointer stored in the object.

duration()

dx(t)

endTime()

Returns the endTime of the trajectory.

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

Return type

float

Returns

The end time

getDeref()

Member access operator.

getIterator(dt=1)

getPath(dt, uniform=True)

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 (float) – [in] Step size

• uniform (boolean, optional) – [in] Whether to sample the path uniformly

Return type

std::vector< rw::math::Vector3D< float > >

Returns

The discrete path.

getSegment(index)

getSegmentsCount()

Returns the number of segments

A segment contains a description interpolator and the blend used to blend from the previous interpolator

isNull()

checks if the pointer is null :rtype: boolean :return: Returns true if the pointer is null

isShared()

check if this Ptr has shared ownership or none ownership :rtype: boolean :return: true if Ptr has shared ownership, false if it has no ownership.

startTime()

property thisown

The membership flag

x(t)

class sdurw_trajectory.sdurw_trajectory.InterpolatorTrajectory_d(startTime=0)

Bases: Trajectory_d

Sequence of interpolators and blends giving a trajectory

A trajectory is defined as a sequence of interpolators and blends. Multiple interpolators can follow each other, whereas a Blend must be preceded and followed by interpolators.

The length of a Trajectory is defined as the time it takes to go from start to finish.

When performing random queries the trajectory needs to do a binary search through all interpolators and blend, giving the random access an O(lg n) complexity.

For accessing multiple consecutive values use TrajectoryInterpolator.

Example of usage:

Transform3D<> T1(Vector3D<>(0,0,0), EAA<>(0,0,0));
Transform3D<> T2(Vector3D<>(1,1,0), EAA<>(1,1,0));
Transform3D<> T3(Vector3D<>(2,0,0), EAA<>(2,2,0));

LinearInterpolator<Transform3D<> >::Ptr cartInt1 =
    ownedPtr(new LinearInterpolator<Transform3D<> >(T1, T2, 1));
LinearInterpolator<Transform3D<> >::Ptr cartInt2 =
    ownedPtr(new LinearInterpolator<Transform3D<> >(T2, T3, 1));
ParabolicBlend<Transform3D<> >::Ptr blend1 =
    ownedPtr(new ParabolicBlend<Transform3D<> >(cartInt1, cartInt2, 0.25));
InterpolatorTrajectory<Transform3D<> > trajectory;
trajectory.add(cartInt1);
trajectory.add(blend1, cartInt2);
std::ofstream out("test.dat");
for (double t = 0; t<=trajectory.duration(); t += dt) {
     Transform3D<> x = trajectory.x(t);
     out<<t<<" "<<x.P()(0)<<" "<<x.P()(1)<<" "<<x.P()(2)<<std::endl;
}
out.close();

__init__(startTime=0)

Construct an empty trajectory

add(*args)

Overload 1:

Adds an interpolator to the end of the trajectory.

When adding the interpolator the Trajectory takes ownership.

Parameters

interpolator (rw::core::Ptr< rw::trajectory::Interpolator< double > >) – [in] The interpolator to add

Overload 2:

Adds a blend and an interpolator to the trajectory.

The Blend added is used to blend between what was previously the last Interpolator of the trajectory onto interpolator, which become the new last interpolator of the trajectory. :type blend: rw::core::Ptr< rw::trajectory::Blend< double > > :param blend: [in] the blend to add :type interpolator: rw::core::Ptr< rw::trajectory::Interpolator< double > > :param interpolator: [in] the interpolator to add

Overload 3:

Append trajectory to the end

When adding a Trajectory all interpolators and blends of trajectory is added in sequence.

Ownership of the interpolator and blends are shared using std::shared_ptr

Parameters

trajectory (rw::trajectory::InterpolatorTrajectory< double >) – [in] Trajectory to append

ddx(t)

Acceleration of trajectory at time t

Returns the acceleration of the trajectory at time t \(\in[startTime(),endTime()]\).

Parameters

t (float) – [in] time between startTime() and endTime()

Return type

float

Returns

Acceleration

duration()

Total duration of the trajectory.

The duration of the Trajectory corresponds to the time it takes to

run through it.

If the trajectory is empty, then -1 is returned.

dx(t)

Velocity of trajectory at time t

Returns the velocity of the trajectory at time t \(\in[startTime(), endTime()]\).

Parameters

t (float) – [in] time between startTime() and endTime()

Return type

float

Returns

Velocity

getIterator(dt=1)

Returns a bi-directional interator for running through the trajectory.

For some trajectory types it may be significantly more efficient to run through using an iterator, rather than using random access.

Parameters

dt (float, optional) – [in] The default time step used when using the ++ or – operators in the iterator

Pointer to the iterator. The pointer has ownership.

getSegment(index)

getSegmentsCount()

Returns the number of segments

A segment contains a description interpolator and the blend used to blend from the previous interpolator

startTime()

Returns the startTime of the trajectory

Return type

float

Returns

Start time

property thisown

The membership flag

x(t)

Position of trajectory at time t

Returns the position of the trajectory at time t \(\in[startTime(), endTime()]\).

Parameters

t (float) – [in] time between startTime() and endTime()

Return type

float

Returns

Position

class sdurw_trajectory.sdurw_trajectory.InterpolatorTrajectory_dCPtr(*args)

Bases: object

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

__init__(*args)

Overload 1:

Default constructor yielding a NULL-pointer.

Overload 2:

Do not take ownership of ptr.

ptr can be null.

The constructor is implicit on purpose.

ddx(t)

deref()

The pointer stored in the object.

duration()

dx(t)

endTime()

Returns the endTime of the trajectory.

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

Return type

float

Returns

The end time

getDeref()

Member access operator.

getIterator(dt=1)

getSegment(index)

getSegmentsCount()

Returns the number of segments

A segment contains a description interpolator and the blend used to blend from the previous interpolator

isNull()

checks if the pointer is null :rtype: boolean :return: Returns true if the pointer is null

isShared()

check if this Ptr has shared ownership or none ownership :rtype: boolean :return: true if Ptr has shared ownership, false if it has no ownership.

startTime()

property thisown

The membership flag

x(t)

class sdurw_trajectory.sdurw_trajectory.InterpolatorTrajectory_dPtr(*args)

Bases: object

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

__init__(*args)

Overload 1:

Default constructor yielding a NULL-pointer.

Overload 2:

Do not take ownership of ptr.

ptr can be null.

The constructor is implicit on purpose.

add(*args)

Overload 1:

Adds an interpolator to the end of the trajectory.

When adding the interpolator the Trajectory takes ownership.

Parameters

interpolator (rw::core::Ptr< rw::trajectory::Interpolator< double > >) – [in] The interpolator to add

Overload 2:

Adds a blend and an interpolator to the trajectory.

The Blend added is used to blend between what was previously the last Interpolator of the trajectory onto interpolator, which become the new last interpolator of the trajectory. :type blend: rw::core::Ptr< rw::trajectory::Blend< double > > :param blend: [in] the blend to add :type interpolator: rw::core::Ptr< rw::trajectory::Interpolator< double > > :param interpolator: [in] the interpolator to add

Overload 3:

Append trajectory to the end

When adding a Trajectory all interpolators and blends of trajectory is added in sequence.

Ownership of the interpolator and blends are shared using std::shared_ptr

Parameters

trajectory (rw::trajectory::InterpolatorTrajectory< double >) – [in] Trajectory to append

cptr()

ddx(t)

deref()

The pointer stored in the object.

duration()

dx(t)

endTime()

Returns the endTime of the trajectory.

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

Return type

float

Returns

The end time

getDeref()

Member access operator.

getIterator(dt=1)

getPath(dt, uniform=True)

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 (float) – [in] Step size

• uniform (boolean, optional) – [in] Whether to sample the path uniformly

Return type

std::vector< double >

Returns

The discrete path.

getSegment(index)

getSegmentsCount()

Returns the number of segments

A segment contains a description interpolator and the blend used to blend from the previous interpolator

isNull()

checks if the pointer is null :rtype: boolean :return: Returns true if the pointer is null

isShared()

check if this Ptr has shared ownership or none ownership :rtype: boolean :return: true if Ptr has shared ownership, false if it has no ownership.

startTime()

property thisown

The membership flag

x(t)

class sdurw_trajectory.sdurw_trajectory.InterpolatorTrajectory_d_f(startTime=0)

Bases: Trajectory_d_f

Sequence of interpolators and blends giving a trajectory

A trajectory is defined as a sequence of interpolators and blends. Multiple interpolators can follow each other, whereas a Blend must be preceded and followed by interpolators.

The length of a Trajectory is defined as the time it takes to go from start to finish.

When performing random queries the trajectory needs to do a binary search through all interpolators and blend, giving the random access an O(lg n) complexity.

For accessing multiple consecutive values use TrajectoryInterpolator.

Example of usage:

Transform3D<> T1(Vector3D<>(0,0,0), EAA<>(0,0,0));
Transform3D<> T2(Vector3D<>(1,1,0), EAA<>(1,1,0));
Transform3D<> T3(Vector3D<>(2,0,0), EAA<>(2,2,0));

LinearInterpolator<Transform3D<> >::Ptr cartInt1 =
    ownedPtr(new LinearInterpolator<Transform3D<> >(T1, T2, 1));
LinearInterpolator<Transform3D<> >::Ptr cartInt2 =
    ownedPtr(new LinearInterpolator<Transform3D<> >(T2, T3, 1));
ParabolicBlend<Transform3D<> >::Ptr blend1 =
    ownedPtr(new ParabolicBlend<Transform3D<> >(cartInt1, cartInt2, 0.25));
InterpolatorTrajectory<Transform3D<> > trajectory;
trajectory.add(cartInt1);
trajectory.add(blend1, cartInt2);
std::ofstream out("test.dat");
for (double t = 0; t<=trajectory.duration(); t += dt) {
     Transform3D<> x = trajectory.x(t);
     out<<t<<" "<<x.P()(0)<<" "<<x.P()(1)<<" "<<x.P()(2)<<std::endl;
}
out.close();

__init__(startTime=0)

Construct an empty trajectory

add(*args)

Overload 1:

Adds an interpolator to the end of the trajectory.

When adding the interpolator the Trajectory takes ownership.

Parameters

interpolator (rw::core::Ptr< rw::trajectory::Interpolator< float > >) – [in] The interpolator to add

Overload 2:

Adds a blend and an interpolator to the trajectory.

The Blend added is used to blend between what was previously the last Interpolator of the trajectory onto interpolator, which become the new last interpolator of the trajectory. :type blend: rw::core::Ptr< rw::trajectory::Blend< float > > :param blend: [in] the blend to add :type interpolator: rw::core::Ptr< rw::trajectory::Interpolator< float > > :param interpolator: [in] the interpolator to add

Overload 3:

Append trajectory to the end

When adding a Trajectory all interpolators and blends of trajectory is added in sequence.

Ownership of the interpolator and blends are shared using std::shared_ptr

Parameters

trajectory (rw::trajectory::InterpolatorTrajectory< float >) – [in] Trajectory to append

ddx(t)

Acceleration of trajectory at time t

Returns the acceleration of the trajectory at time t \(\in[startTime(),endTime()]\).

Parameters

t (float) – [in] time between startTime() and endTime()

Return type

float

Returns

Acceleration

duration()

Total duration of the trajectory.

The duration of the Trajectory corresponds to the time it takes to

run through it.

If the trajectory is empty, then -1 is returned.

dx(t)

Velocity of trajectory at time t

Returns the velocity of the trajectory at time t \(\in[startTime(), endTime()]\).

Parameters

t (float) – [in] time between startTime() and endTime()

Return type

float

Returns

Velocity

getIterator(dt=1)

Returns a bi-directional interator for running through the trajectory.

For some trajectory types it may be significantly more efficient to run through using an iterator, rather than using random access.

Parameters

dt (float, optional) – [in] The default time step used when using the ++ or – operators in the iterator

Pointer to the iterator. The pointer has ownership.

getSegment(index)

getSegmentsCount()

Returns the number of segments

A segment contains a description interpolator and the blend used to blend from the previous interpolator

startTime()

Returns the startTime of the trajectory

Return type

float

Returns

Start time

property thisown

The membership flag

x(t)

Position of trajectory at time t

Returns the position of the trajectory at time t \(\in[startTime(), endTime()]\).

Parameters

t (float) – [in] time between startTime() and endTime()

Return type

float

Returns

Position

class sdurw_trajectory.sdurw_trajectory.InterpolatorTrajectory_d_fCPtr(*args)

Bases: object

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

__init__(*args)

Overload 1:

Default constructor yielding a NULL-pointer.

Overload 2:

Do not take ownership of ptr.

ptr can be null.

The constructor is implicit on purpose.

ddx(t)

deref()

The pointer stored in the object.

duration()

dx(t)

endTime()

Returns the endTime of the trajectory.

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

Return type

float

Returns

The end time

getDeref()

Member access operator.

getIterator(dt=1)

getSegment(index)

getSegmentsCount()

Returns the number of segments

A segment contains a description interpolator and the blend used to blend from the previous interpolator

isNull()

checks if the pointer is null :rtype: boolean :return: Returns true if the pointer is null

isShared()

check if this Ptr has shared ownership or none ownership :rtype: boolean :return: true if Ptr has shared ownership, false if it has no ownership.

startTime()

property thisown

The membership flag

x(t)

class sdurw_trajectory.sdurw_trajectory.InterpolatorTrajectory_d_fPtr(*args)

Bases: object

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

__init__(*args)

Overload 1:

Default constructor yielding a NULL-pointer.

Overload 2:

Do not take ownership of ptr.

ptr can be null.

The constructor is implicit on purpose.

add(*args)

Overload 1:

Adds an interpolator to the end of the trajectory.

When adding the interpolator the Trajectory takes ownership.

Parameters

interpolator (rw::core::Ptr< rw::trajectory::Interpolator< float > >) – [in] The interpolator to add

Overload 2:

Adds a blend and an interpolator to the trajectory.

The Blend added is used to blend between what was previously the last Interpolator of the trajectory onto interpolator, which become the new last interpolator of the trajectory. :type blend: rw::core::Ptr< rw::trajectory::Blend< float > > :param blend: [in] the blend to add :type interpolator: rw::core::Ptr< rw::trajectory::Interpolator< float > > :param interpolator: [in] the interpolator to add

Overload 3:

Append trajectory to the end

When adding a Trajectory all interpolators and blends of trajectory is added in sequence.

Ownership of the interpolator and blends are shared using std::shared_ptr

Parameters

trajectory (rw::trajectory::InterpolatorTrajectory< float >) – [in] Trajectory to append

cptr()

ddx(t)

deref()

The pointer stored in the object.

duration()

dx(t)

endTime()

Returns the endTime of the trajectory.

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

Return type

float

Returns

The end time

getDeref()

Member access operator.

getIterator(dt=1)

getPath(dt, uniform=True)

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 (float) – [in] Step size

• uniform (boolean, optional) – [in] Whether to sample the path uniformly

Return type

std::vector< float >

Returns

The discrete path.

getSegment(index)

getSegmentsCount()

Returns the number of segments

A segment contains a description interpolator and the blend used to blend from the previous interpolator

isNull()

checks if the pointer is null :rtype: boolean :return: Returns true if the pointer is null

isShared()

check if this Ptr has shared ownership or none ownership :rtype: boolean :return: true if Ptr has shared ownership, false if it has no ownership.

startTime()

property thisown

The membership flag

x(t)

class sdurw_trajectory.sdurw_trajectory.InterpolatorTransform3D(*args, **kwargs)

Bases: object

Interface for interpolators

See the specific implementations for more details

__init__(*args, **kwargs)

ddx(t)

Acceleration at time t :type t: float :param t: [in] time between 0 and length :rtype: rw::math::Transform3D< double > :return: Acceleration

duration()

Returns the duration of the interpolator

The duration is defined as the time it takes to move from one end of the interpolator to the other. :rtype: float :return: duration

dx(t)

Velocity at time t :type t: float :param t: [in] time between 0 and length :rtype: rw::math::Transform3D< double > :return: Velocity

property thisown

The membership flag

x(t)

Position at time t :type t: float :param t: [in] time between 0 and length :rtype: rw::math::Transform3D< double > :return: Position

class sdurw_trajectory.sdurw_trajectory.InterpolatorTransform3DCPtr(*args)

Bases: object

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

__init__(*args)

Overload 1:

Default constructor yielding a NULL-pointer.

Overload 2:

Do not take ownership of ptr.

ptr can be null.

The constructor is implicit on purpose.

ddx(t)

Acceleration at time t :type t: float :param t: [in] time between 0 and length :rtype: rw::math::Transform3D< double > :return: Acceleration

deref()

The pointer stored in the object.

duration()

Returns the duration of the interpolator

The duration is defined as the time it takes to move from one end of the interpolator to the other. :rtype: float :return: duration

dx(t)

Velocity at time t :type t: float :param t: [in] time between 0 and length :rtype: rw::math::Transform3D< double > :return: Velocity

getDeref()

Member access operator.

isNull()

checks if the pointer is null :rtype: boolean :return: Returns true if the pointer is null

isShared()

check if this Ptr has shared ownership or none ownership :rtype: boolean :return: true if Ptr has shared ownership, false if it has no ownership.

property thisown

The membership flag

x(t)

Position at time t :type t: float :param t: [in] time between 0 and length :rtype: rw::math::Transform3D< double > :return: Position

class sdurw_trajectory.sdurw_trajectory.InterpolatorTransform3DPtr(*args)

Bases: object

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

__init__(*args)

Overload 1:

Default constructor yielding a NULL-pointer.

Overload 2:

Do not take ownership of ptr.

ptr can be null.

The constructor is implicit on purpose.

cptr()

ddx(t)

Acceleration at time t :type t: float :param t: [in] time between 0 and length :rtype: rw::math::Transform3D< double > :return: Acceleration

deref()

The pointer stored in the object.

duration()

Returns the duration of the interpolator

The duration is defined as the time it takes to move from one end of the interpolator to the other. :rtype: float :return: duration

dx(t)

Velocity at time t :type t: float :param t: [in] time between 0 and length :rtype: rw::math::Transform3D< double > :return: Velocity

getDeref()

Member access operator.

isNull()

checks if the pointer is null :rtype: boolean :return: Returns true if the pointer is null

isShared()

check if this Ptr has shared ownership or none ownership :rtype: boolean :return: true if Ptr has shared ownership, false if it has no ownership.

property thisown

The membership flag

x(t)

Position at time t :type t: float :param t: [in] time between 0 and length :rtype: rw::math::Transform3D< double > :return: Position

class sdurw_trajectory.sdurw_trajectory.InterpolatorTransform3DVector(*args, **kwargs)

Bases: object

Interface for interpolators

See the specific implementations for more details

__init__(*args, **kwargs)

ddx(t)

Acceleration at time t :type t: float :param t: [in] time between 0 and length :rtype: rw::math::Transform3DVector< double > :return: Acceleration

duration()

Returns the duration of the interpolator

The duration is defined as the time it takes to move from one end of the interpolator to the other. :rtype: float :return: duration

dx(t)

Velocity at time t :type t: float :param t: [in] time between 0 and length :rtype: rw::math::Transform3DVector< double > :return: Velocity

property thisown

The membership flag

x(t)

Position at time t :type t: float :param t: [in] time between 0 and length :rtype: rw::math::Transform3DVector< double > :return: Position

class sdurw_trajectory.sdurw_trajectory.InterpolatorTransform3D_f(*args, **kwargs)

Bases: object

Interface for interpolators

See the specific implementations for more details

__init__(*args, **kwargs)

ddx(t)

Acceleration at time t :type t: float :param t: [in] time between 0 and length :rtype: rw::math::Transform3D< float > :return: Acceleration

duration()

Returns the duration of the interpolator

The duration is defined as the time it takes to move from one end of the interpolator to the other. :rtype: float :return: duration

dx(t)

Velocity at time t :type t: float :param t: [in] time between 0 and length :rtype: rw::math::Transform3D< float > :return: Velocity

property thisown

The membership flag

x(t)

Position at time t :type t: float :param t: [in] time between 0 and length :rtype: rw::math::Transform3D< float > :return: Position

class sdurw_trajectory.sdurw_trajectory.InterpolatorTransform3D_fCPtr(*args)

Bases: object

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

__init__(*args)

Overload 1:

Default constructor yielding a NULL-pointer.

Overload 2:

Do not take ownership of ptr.

ptr can be null.

The constructor is implicit on purpose.

ddx(t)

Acceleration at time t :type t: float :param t: [in] time between 0 and length :rtype: rw::math::Transform3D< float > :return: Acceleration

deref()

The pointer stored in the object.

duration()

Returns the duration of the interpolator

The duration is defined as the time it takes to move from one end of the interpolator to the other. :rtype: float :return: duration

dx(t)

Velocity at time t :type t: float :param t: [in] time between 0 and length :rtype: rw::math::Transform3D< float > :return: Velocity

getDeref()

Member access operator.

isNull()

checks if the pointer is null :rtype: boolean :return: Returns true if the pointer is null

isShared()

check if this Ptr has shared ownership or none ownership :rtype: boolean :return: true if Ptr has shared ownership, false if it has no ownership.

property thisown

The membership flag

x(t)

Position at time t :type t: float :param t: [in] time between 0 and length :rtype: rw::math::Transform3D< float > :return: Position

class sdurw_trajectory.sdurw_trajectory.InterpolatorTransform3D_fPtr(*args)

Bases: object

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

__init__(*args)

Overload 1:

Default constructor yielding a NULL-pointer.

Overload 2:

Do not take ownership of ptr.

ptr can be null.

The constructor is implicit on purpose.

cptr()

ddx(t)

Acceleration at time t :type t: float :param t: [in] time between 0 and length :rtype: rw::math::Transform3D< float > :return: Acceleration

deref()

The pointer stored in the object.

duration()

Returns the duration of the interpolator

The duration is defined as the time it takes to move from one end of the interpolator to the other. :rtype: float :return: duration

dx(t)

Velocity at time t :type t: float :param t: [in] time between 0 and length :rtype: rw::math::Transform3D< float > :return: Velocity

getDeref()

Member access operator.

isNull()

checks if the pointer is null :rtype: boolean :return: Returns true if the pointer is null

isShared()

check if this Ptr has shared ownership or none ownership :rtype: boolean :return: true if Ptr has shared ownership, false if it has no ownership.

property thisown

The membership flag

x(t)

Position at time t :type t: float :param t: [in] time between 0 and length :rtype: rw::math::Transform3D< float > :return: Position

class sdurw_trajectory.sdurw_trajectory.InterpolatorUtil(*args, **kwargs)

Bases: object

Utilities used in the implementation of various interpolators and blends.

__init__(*args, **kwargs)

property thisown

The membership flag

class sdurw_trajectory.sdurw_trajectory.InterpolatorVector2D(*args, **kwargs)

Bases: object

Interface for interpolators

See the specific implementations for more details

__init__(*args, **kwargs)

ddx(t)

Acceleration at time t :type t: float :param t: [in] time between 0 and length :rtype: rw::math::Vector2D< double > :return: Acceleration

duration()

Returns the duration of the interpolator

The duration is defined as the time it takes to move from one end of the interpolator to the other. :rtype: float :return: duration

dx(t)

Velocity at time t :type t: float :param t: [in] time between 0 and length :rtype: rw::math::Vector2D< double > :return: Velocity

property thisown

The membership flag

x(t)

Position at time t :type t: float :param t: [in] time between 0 and length :rtype: rw::math::Vector2D< double > :return: Position

class sdurw_trajectory.sdurw_trajectory.InterpolatorVector2DCPtr(*args)

Bases: object

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

__init__(*args)

Overload 1:

Default constructor yielding a NULL-pointer.

Overload 2:

Do not take ownership of ptr.

ptr can be null.

The constructor is implicit on purpose.

ddx(t)

Acceleration at time t :type t: float :param t: [in] time between 0 and length :rtype: rw::math::Vector2D< double > :return: Acceleration

deref()

The pointer stored in the object.

duration()

Returns the duration of the interpolator

The duration is defined as the time it takes to move from one end of the interpolator to the other. :rtype: float :return: duration

dx(t)

Velocity at time t :type t: float :param t: [in] time between 0 and length :rtype: rw::math::Vector2D< double > :return: Velocity

getDeref()

Member access operator.

isNull()

checks if the pointer is null :rtype: boolean :return: Returns true if the pointer is null

isShared()

check if this Ptr has shared ownership or none ownership :rtype: boolean :return: true if Ptr has shared ownership, false if it has no ownership.

property thisown

The membership flag

x(t)

Position at time t :type t: float :param t: [in] time between 0 and length :rtype: rw::math::Vector2D< double > :return: Position

class sdurw_trajectory.sdurw_trajectory.InterpolatorVector2DPtr(*args)

Bases: object

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

__init__(*args)

Overload 1:

Default constructor yielding a NULL-pointer.

Overload 2:

Do not take ownership of ptr.

ptr can be null.

The constructor is implicit on purpose.

cptr()

ddx(t)

Acceleration at time t :type t: float :param t: [in] time between 0 and length :rtype: rw::math::Vector2D< double > :return: Acceleration

deref()

The pointer stored in the object.

duration()

Returns the duration of the interpolator

The duration is defined as the time it takes to move from one end of the interpolator to the other. :rtype: float :return: duration

dx(t)

Velocity at time t :type t: float :param t: [in] time between 0 and length :rtype: rw::math::Vector2D< double > :return: Velocity

getDeref()

Member access operator.

isNull()

checks if the pointer is null :rtype: boolean :return: Returns true if the pointer is null

isShared()

check if this Ptr has shared ownership or none ownership :rtype: boolean :return: true if Ptr has shared ownership, false if it has no ownership.

property thisown

The membership flag

x(t)

Position at time t :type t: float :param t: [in] time between 0 and length :rtype: rw::math::Vector2D< double > :return: Position

class sdurw_trajectory.sdurw_trajectory.InterpolatorVector2D_f(*args, **kwargs)

Bases: object

Interface for interpolators

See the specific implementations for more details

__init__(*args, **kwargs)

ddx(t)

Acceleration at time t :type t: float :param t: [in] time between 0 and length :rtype: rw::math::Vector2D< float > :return: Acceleration

duration()

Returns the duration of the interpolator

The duration is defined as the time it takes to move from one end of the interpolator to the other. :rtype: float :return: duration

dx(t)

Velocity at time t :type t: float :param t: [in] time between 0 and length :rtype: rw::math::Vector2D< float > :return: Velocity

property thisown

The membership flag

x(t)

Position at time t :type t: float :param t: [in] time between 0 and length :rtype: rw::math::Vector2D< float > :return: Position

class sdurw_trajectory.sdurw_trajectory.InterpolatorVector2D_fCPtr(*args)

Bases: object

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

__init__(*args)

Overload 1:

Default constructor yielding a NULL-pointer.

Overload 2:

Do not take ownership of ptr.

ptr can be null.

The constructor is implicit on purpose.

ddx(t)

Acceleration at time t :type t: float :param t: [in] time between 0 and length :rtype: rw::math::Vector2D< float > :return: Acceleration

deref()

The pointer stored in the object.

duration()

Returns the duration of the interpolator

The duration is defined as the time it takes to move from one end of the interpolator to the other. :rtype: float :return: duration

dx(t)

Velocity at time t :type t: float :param t: [in] time between 0 and length :rtype: rw::math::Vector2D< float > :return: Velocity

getDeref()

Member access operator.

isNull()

checks if the pointer is null :rtype: boolean :return: Returns true if the pointer is null

isShared()

check if this Ptr has shared ownership or none ownership :rtype: boolean :return: true if Ptr has shared ownership, false if it has no ownership.

property thisown

The membership flag

x(t)

Position at time t :type t: float :param t: [in] time between 0 and length :rtype: rw::math::Vector2D< float > :return: Position

class sdurw_trajectory.sdurw_trajectory.InterpolatorVector2D_fPtr(*args)

Bases: object

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

__init__(*args)

Overload 1:

Default constructor yielding a NULL-pointer.

Overload 2:

Do not take ownership of ptr.

ptr can be null.

The constructor is implicit on purpose.

cptr()

ddx(t)

Acceleration at time t :type t: float :param t: [in] time between 0 and length :rtype: rw::math::Vector2D< float > :return: Acceleration

deref()

The pointer stored in the object.

duration()

Returns the duration of the interpolator

The duration is defined as the time it takes to move from one end of the interpolator to the other. :rtype: float :return: duration

dx(t)

Velocity at time t :type t: float :param t: [in] time between 0 and length :rtype: rw::math::Vector2D< float > :return: Velocity

getDeref()

Member access operator.

isNull()

checks if the pointer is null :rtype: boolean :return: Returns true if the pointer is null

isShared()

check if this Ptr has shared ownership or none ownership :rtype: boolean :return: true if Ptr has shared ownership, false if it has no ownership.

property thisown

The membership flag

x(t)

Position at time t :type t: float :param t: [in] time between 0 and length :rtype: rw::math::Vector2D< float > :return: Position

class sdurw_trajectory.sdurw_trajectory.InterpolatorVector3D(*args, **kwargs)

Bases: object

Interface for interpolators

See the specific implementations for more details

__init__(*args, **kwargs)

ddx(t)

Acceleration at time t :type t: float :param t: [in] time between 0 and length :rtype: rw::math::Vector3D< double > :return: Acceleration

duration()

Returns the duration of the interpolator

The duration is defined as the time it takes to move from one end of the interpolator to the other. :rtype: float :return: duration

dx(t)

Velocity at time t :type t: float :param t: [in] time between 0 and length :rtype: rw::math::Vector3D< double > :return: Velocity

property thisown

The membership flag

x(t)

Position at time t :type t: float :param t: [in] time between 0 and length :rtype: rw::math::Vector3D< double > :return: Position

class sdurw_trajectory.sdurw_trajectory.InterpolatorVector3DCPtr(*args)

Bases: object

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

__init__(*args)

Overload 1:

Default constructor yielding a NULL-pointer.

Overload 2:

Do not take ownership of ptr.

ptr can be null.

The constructor is implicit on purpose.

ddx(t)

Acceleration at time t :type t: float :param t: [in] time between 0 and length :rtype: rw::math::Vector3D< double > :return: Acceleration

deref()

The pointer stored in the object.

duration()

Returns the duration of the interpolator

The duration is defined as the time it takes to move from one end of the interpolator to the other. :rtype: float :return: duration

dx(t)

Velocity at time t :type t: float :param t: [in] time between 0 and length :rtype: rw::math::Vector3D< double > :return: Velocity

getDeref()

Member access operator.

isNull()

checks if the pointer is null :rtype: boolean :return: Returns true if the pointer is null

isShared()

check if this Ptr has shared ownership or none ownership :rtype: boolean :return: true if Ptr has shared ownership, false if it has no ownership.

property thisown

The membership flag

x(t)

Position at time t :type t: float :param t: [in] time between 0 and length :rtype: rw::math::Vector3D< double > :return: Position

class sdurw_trajectory.sdurw_trajectory.InterpolatorVector3DPtr(*args)

Bases: object

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

__init__(*args)

Overload 1:

Default constructor yielding a NULL-pointer.

Overload 2:

Do not take ownership of ptr.

ptr can be null.

The constructor is implicit on purpose.

cptr()

ddx(t)

Acceleration at time t :type t: float :param t: [in] time between 0 and length :rtype: rw::math::Vector3D< double > :return: Acceleration

deref()

The pointer stored in the object.

duration()

Returns the duration of the interpolator

The duration is defined as the time it takes to move from one end of the interpolator to the other. :rtype: float :return: duration

dx(t)

Velocity at time t :type t: float :param t: [in] time between 0 and length :rtype: rw::math::Vector3D< double > :return: Velocity

getDeref()

Member access operator.

isNull()

checks if the pointer is null :rtype: boolean :return: Returns true if the pointer is null

isShared()

check if this Ptr has shared ownership or none ownership :rtype: boolean :return: true if Ptr has shared ownership, false if it has no ownership.

property thisown

The membership flag

x(t)

Position at time t :type t: float :param t: [in] time between 0 and length :rtype: rw::math::Vector3D< double > :return: Position

class sdurw_trajectory.sdurw_trajectory.InterpolatorVector3D_f(*args, **kwargs)

Bases: object

Interface for interpolators

See the specific implementations for more details

__init__(*args, **kwargs)

ddx(t)

Acceleration at time t :type t: float :param t: [in] time between 0 and length :rtype: rw::math::Vector3D< float > :return: Acceleration

duration()

Returns the duration of the interpolator

The duration is defined as the time it takes to move from one end of the interpolator to the other. :rtype: float :return: duration

dx(t)

Velocity at time t :type t: float :param t: [in] time between 0 and length :rtype: rw::math::Vector3D< float > :return: Velocity

property thisown

The membership flag

x(t)

Position at time t :type t: float :param t: [in] time between 0 and length :rtype: rw::math::Vector3D< float > :return: Position

class sdurw_trajectory.sdurw_trajectory.InterpolatorVector3D_fCPtr(*args)

Bases: object

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

__init__(*args)

Overload 1:

Default constructor yielding a NULL-pointer.

Overload 2:

Do not take ownership of ptr.

ptr can be null.

The constructor is implicit on purpose.

ddx(t)

Acceleration at time t :type t: float :param t: [in] time between 0 and length :rtype: rw::math::Vector3D< float > :return: Acceleration

deref()

The pointer stored in the object.

duration()

Returns the duration of the interpolator

The duration is defined as the time it takes to move from one end of the interpolator to the other. :rtype: float :return: duration

dx(t)

Velocity at time t :type t: float :param t: [in] time between 0 and length :rtype: rw::math::Vector3D< float > :return: Velocity

getDeref()

Member access operator.

isNull()

checks if the pointer is null :rtype: boolean :return: Returns true if the pointer is null

isShared()

check if this Ptr has shared ownership or none ownership :rtype: boolean :return: true if Ptr has shared ownership, false if it has no ownership.

property thisown

The membership flag

x(t)

Position at time t :type t: float :param t: [in] time between 0 and length :rtype: rw::math::Vector3D< float > :return: Position

class sdurw_trajectory.sdurw_trajectory.InterpolatorVector3D_fPtr(*args)

Bases: object

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

__init__(*args)

Overload 1:

Default constructor yielding a NULL-pointer.

Overload 2:

Do not take ownership of ptr.

ptr can be null.

The constructor is implicit on purpose.

cptr()

ddx(t)

Acceleration at time t :type t: float :param t: [in] time between 0 and length :rtype: rw::math::Vector3D< float > :return: Acceleration

deref()

The pointer stored in the object.

duration()

Returns the duration of the interpolator

The duration is defined as the time it takes to move from one end of the interpolator to the other. :rtype: float :return: duration

dx(t)

Velocity at time t :type t: float :param t: [in] time between 0 and length :rtype: rw::math::Vector3D< float > :return: Velocity

getDeref()

Member access operator.

isNull()

checks if the pointer is null :rtype: boolean :return: Returns true if the pointer is null

isShared()

check if this Ptr has shared ownership or none ownership :rtype: boolean :return: true if Ptr has shared ownership, false if it has no ownership.

property thisown

The membership flag

x(t)

Position at time t :type t: float :param t: [in] time between 0 and length :rtype: rw::math::Vector3D< float > :return: Position

class sdurw_trajectory.sdurw_trajectory.Interpolator_d(*args, **kwargs)

Bases: object

Interface for interpolators

See the specific implementations for more details

__init__(*args, **kwargs)

ddx(t)

Acceleration at time t :type t: float :param t: [in] time between 0 and length :rtype: float :return: Acceleration

duration()

Returns the duration of the interpolator

The duration is defined as the time it takes to move from one end of the interpolator to the other. :rtype: float :return: duration

dx(t)

Velocity at time t :type t: float :param t: [in] time between 0 and length :rtype: float :return: Velocity

property thisown

The membership flag

x(t)

Position at time t :type t: float :param t: [in] time between 0 and length :rtype: float :return: Position

class sdurw_trajectory.sdurw_trajectory.Interpolator_dCPtr(*args)

Bases: object

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

__init__(*args)

Overload 1:

Default constructor yielding a NULL-pointer.

Overload 2:

Do not take ownership of ptr.

ptr can be null.

The constructor is implicit on purpose.

ddx(t)

Acceleration at time t :type t: float :param t: [in] time between 0 and length :rtype: float :return: Acceleration

deref()

The pointer stored in the object.

duration()

Returns the duration of the interpolator

The duration is defined as the time it takes to move from one end of the interpolator to the other. :rtype: float :return: duration

dx(t)

Velocity at time t :type t: float :param t: [in] time between 0 and length :rtype: float :return: Velocity

getDeref()

Member access operator.

isNull()

checks if the pointer is null :rtype: boolean :return: Returns true if the pointer is null

isShared()

check if this Ptr has shared ownership or none ownership :rtype: boolean :return: true if Ptr has shared ownership, false if it has no ownership.

property thisown

The membership flag

x(t)

Position at time t :type t: float :param t: [in] time between 0 and length :rtype: float :return: Position

class sdurw_trajectory.sdurw_trajectory.Interpolator_dPtr(*args)

Bases: object

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

__init__(*args)

Overload 1:

Default constructor yielding a NULL-pointer.

Overload 2:

Do not take ownership of ptr.

ptr can be null.

The constructor is implicit on purpose.

cptr()

ddx(t)

Acceleration at time t :type t: float :param t: [in] time between 0 and length :rtype: float :return: Acceleration

deref()

The pointer stored in the object.

duration()

Returns the duration of the interpolator

The duration is defined as the time it takes to move from one end of the interpolator to the other. :rtype: float :return: duration

dx(t)

Velocity at time t :type t: float :param t: [in] time between 0 and length :rtype: float :return: Velocity

getDeref()

Member access operator.

isNull()

checks if the pointer is null :rtype: boolean :return: Returns true if the pointer is null

isShared()

check if this Ptr has shared ownership or none ownership :rtype: boolean :return: true if Ptr has shared ownership, false if it has no ownership.

property thisown

The membership flag

x(t)

Position at time t :type t: float :param t: [in] time between 0 and length :rtype: float :return: Position

class sdurw_trajectory.sdurw_trajectory.Interpolator_d_f(*args, **kwargs)

Bases: object

Interface for interpolators

See the specific implementations for more details

__init__(*args, **kwargs)

ddx(t)

Acceleration at time t :type t: float :param t: [in] time between 0 and length :rtype: float :return: Acceleration

duration()

Returns the duration of the interpolator

The duration is defined as the time it takes to move from one end of the interpolator to the other. :rtype: float :return: duration

dx(t)

Velocity at time t :type t: float :param t: [in] time between 0 and length :rtype: float :return: Velocity

property thisown

The membership flag

x(t)

Position at time t :type t: float :param t: [in] time between 0 and length :rtype: float :return: Position

class sdurw_trajectory.sdurw_trajectory.Interpolator_d_fCPtr(*args)

Bases: object

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

__init__(*args)

Overload 1:

Default constructor yielding a NULL-pointer.

Overload 2:

Do not take ownership of ptr.

ptr can be null.

The constructor is implicit on purpose.

ddx(t)

Acceleration at time t :type t: float :param t: [in] time between 0 and length :rtype: float :return: Acceleration

deref()

The pointer stored in the object.

duration()

Returns the duration of the interpolator

The duration is defined as the time it takes to move from one end of the interpolator to the other. :rtype: float :return: duration

dx(t)

Velocity at time t :type t: float :param t: [in] time between 0 and length :rtype: float :return: Velocity

getDeref()

Member access operator.

isNull()

checks if the pointer is null :rtype: boolean :return: Returns true if the pointer is null

isShared()

check if this Ptr has shared ownership or none ownership :rtype: boolean :return: true if Ptr has shared ownership, false if it has no ownership.

property thisown

The membership flag

x(t)

Position at time t :type t: float :param t: [in] time between 0 and length :rtype: float :return: Position

class sdurw_trajectory.sdurw_trajectory.Interpolator_d_fPtr(*args)

Bases: object

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

__init__(*args)

Overload 1:

Default constructor yielding a NULL-pointer.

Overload 2:

Do not take ownership of ptr.

ptr can be null.

The constructor is implicit on purpose.

cptr()

ddx(t)

Acceleration at time t :type t: float :param t: [in] time between 0 and length :rtype: float :return: Acceleration

deref()

The pointer stored in the object.

duration()

Returns the duration of the interpolator

The duration is defined as the time it takes to move from one end of the interpolator to the other. :rtype: float :return: duration

dx(t)

Velocity at time t :type t: float :param t: [in] time between 0 and length :rtype: float :return: Velocity

getDeref()

Member access operator.

isNull()

checks if the pointer is null :rtype: boolean :return: Returns true if the pointer is null

isShared()

check if this Ptr has shared ownership or none ownership :rtype: boolean :return: true if Ptr has shared ownership, false if it has no ownership.

property thisown

The membership flag

x(t)

Position at time t :type t: float :param t: [in] time between 0 and length :rtype: float :return: Position

class sdurw_trajectory.sdurw_trajectory.LinearInterpolatorQ(start, end, duration)

Bases: InterpolatorQ

Make a linear interpolation between to position

Given a start \(\mathbf{s}\), end \(\mathbf{e}\) and duration \(d\) the interpolation is implemented as \(\mathbf{x}(t)=\mathbf{s} +(\mathbf{e}-\mathbf{s})*t/d\).

The template argument given needs to support addition with the “+” operator and scaling with a double using the “*” operator.

For use with a rw::math::Transform3D see the template specialization

__init__(start, end, duration)

Construct LinearInterpolator starting a start and finishing in end and taking duration time.

If duration <= 0 an exception is thrown

Parameters

• start (Q) – [in] Start of interpolator

• end (Q) – [in] End of interpolator

• duration (float) – [in] Time it takes to from one end to the other.

ddx(t)

Acceleration at time t :type t: float :param t: [in] time between 0 and length :rtype: Q :return: Acceleration

duration()

Returns the duration of the interpolator

The duration is defined as the time it takes to move from one end of the interpolator to the other. :rtype: float :return: duration

dx(t)

Velocity at time t :type t: float :param t: [in] time between 0 and length :rtype: Q :return: Velocity

getEnd()

Returns the end position of the interpolator :rtype: Q :return: The end position of the interpolator

getStart()

Returns the start position of the interpolator :rtype: Q :return: The start position of the interpolator

property thisown

The membership flag

x(t)

Position at time t :type t: float :param t: [in] time between 0 and length :rtype: Q :return: Position

class sdurw_trajectory.sdurw_trajectory.LinearInterpolatorQCPtr(*args)

Bases: object

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

__init__(*args)

Overload 1:

Default constructor yielding a NULL-pointer.

Overload 2:

Do not take ownership of ptr.

ptr can be null.

The constructor is implicit on purpose.

ddx(t)

deref()

The pointer stored in the object.

duration()

dx(t)

getDeref()

Member access operator.

getEnd()

Returns the end position of the interpolator :rtype: Q :return: The end position of the interpolator

getStart()

Returns the start position of the interpolator :rtype: Q :return: The start position of the interpolator

isNull()

checks if the pointer is null :rtype: boolean :return: Returns true if the pointer is null

isShared()

check if this Ptr has shared ownership or none ownership :rtype: boolean :return: true if Ptr has shared ownership, false if it has no ownership.

property thisown

The membership flag

x(t)

class sdurw_trajectory.sdurw_trajectory.LinearInterpolatorQPtr(*args)

Bases: object

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

__init__(*args)

Overload 1:

Default constructor yielding a NULL-pointer.

Overload 2:

Do not take ownership of ptr.

ptr can be null.

The constructor is implicit on purpose.

cptr()

ddx(t)

deref()

The pointer stored in the object.

duration()

dx(t)

getDeref()

Member access operator.

getEnd()

Returns the end position of the interpolator :rtype: Q :return: The end position of the interpolator

getStart()

Returns the start position of the interpolator :rtype: Q :return: The start position of the interpolator

isNull()

checks if the pointer is null :rtype: boolean :return: Returns true if the pointer is null

isShared()

check if this Ptr has shared ownership or none ownership :rtype: boolean :return: true if Ptr has shared ownership, false if it has no ownership.

property thisown

The membership flag

x(t)

sdurw_trajectory.sdurw_trajectory.LinearInterpolatorR1

alias of LinearInterpolator_d

sdurw_trajectory.sdurw_trajectory.LinearInterpolatorR2

alias of LinearInterpolatorVector2D

sdurw_trajectory.sdurw_trajectory.LinearInterpolatorR3

alias of LinearInterpolatorVector3D

class sdurw_trajectory.sdurw_trajectory.LinearInterpolatorRotation3D(start, end, duration)

Bases: InterpolatorRotation3D

Make a linear interpolation between to position

Given a start \(\mathbf{s}\), end \(\mathbf{e}\) and duration \(d\) the interpolation is implemented as \(\mathbf{x}(t)=\mathbf{s} +(\mathbf{e}-\mathbf{s})*t/d\).

The template argument given needs to support addition with the “+” operator and scaling with a double using the “*” operator.

For use with a rw::math::Transform3D see the template specialization

__init__(start, end, duration)

Construct LinearInterpolator starting a start and finishing in end and taking duration time.

If duration <= 0 an exception is thrown

Parameters

• start (rw::math::Rotation3D< double >) – [in] Start of interpolator

• end (rw::math::Rotation3D< double >) – [in] End of interpolator

• duration (float) – [in] Time it takes to from one end to the other.

ddx(t)

Acceleration at time t :type t: float :param t: [in] time between 0 and length :rtype: rw::math::Rotation3D< double > :return: Acceleration

duration()

Returns the duration of the interpolator

The duration is defined as the time it takes to move from one end of the interpolator to the other. :rtype: float :return: duration

dx(t)

Velocity at time t :type t: float :param t: [in] time between 0 and length :rtype: rw::math::Rotation3D< double > :return: Velocity

getEnd()

Returns the end position of the interpolator :rtype: rw::math::Rotation3D< double > :return: The end position of the interpolator

getStart()

Returns the start position of the interpolator :rtype: rw::math::Rotation3D< double > :return: The start position of the interpolator

property thisown

The membership flag

x(t)

Position at time t :type t: float :param t: [in] time between 0 and length :rtype: rw::math::Rotation3D< double > :return: Position

class sdurw_trajectory.sdurw_trajectory.LinearInterpolatorRotation3DCPtr(*args)

Bases: object

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

__init__(*args)

Overload 1:

Default constructor yielding a NULL-pointer.

Overload 2:

Do not take ownership of ptr.

ptr can be null.

The constructor is implicit on purpose.

ddx(t)

deref()

The pointer stored in the object.

duration()

dx(t)

getDeref()

Member access operator.

getEnd()

Returns the end position of the interpolator :rtype: rw::math::Rotation3D< double > :return: The end position of the interpolator

getStart()

Returns the start position of the interpolator :rtype: rw::math::Rotation3D< double > :return: The start position of the interpolator

isNull()

checks if the pointer is null :rtype: boolean :return: Returns true if the pointer is null

isShared()

check if this Ptr has shared ownership or none ownership :rtype: boolean :return: true if Ptr has shared ownership, false if it has no ownership.

property thisown

The membership flag

x(t)

class sdurw_trajectory.sdurw_trajectory.LinearInterpolatorRotation3DPtr(*args)

Bases: object

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

__init__(*args)

Overload 1:

Default constructor yielding a NULL-pointer.

Overload 2:

Do not take ownership of ptr.

ptr can be null.

The constructor is implicit on purpose.

cptr()

ddx(t)

deref()

The pointer stored in the object.

duration()

dx(t)

getDeref()

Member access operator.

getEnd()

Returns the end position of the interpolator :rtype: rw::math::Rotation3D< double > :return: The end position of the interpolator

getStart()

Returns the start position of the interpolator :rtype: rw::math::Rotation3D< double > :return: The start position of the interpolator

isNull()

checks if the pointer is null :rtype: boolean :return: Returns true if the pointer is null

isShared()

check if this Ptr has shared ownership or none ownership :rtype: boolean :return: true if Ptr has shared ownership, false if it has no ownership.

property thisown

The membership flag

x(t)

class sdurw_trajectory.sdurw_trajectory.LinearInterpolatorRotation3D_f(start, end, duration)

Bases: InterpolatorRotation3D_f

Make a linear interpolation between to position

Given a start \(\mathbf{s}\), end \(\mathbf{e}\) and duration \(d\) the interpolation is implemented as \(\mathbf{x}(t)=\mathbf{s} +(\mathbf{e}-\mathbf{s})*t/d\).

The template argument given needs to support addition with the “+” operator and scaling with a double using the “*” operator.

For use with a rw::math::Transform3D see the template specialization

__init__(start, end, duration)

Construct LinearInterpolator starting a start and finishing in end and taking duration time.

If duration <= 0 an exception is thrown

Parameters

• start (rw::math::Rotation3D< float >) – [in] Start of interpolator

• end (rw::math::Rotation3D< float >) – [in] End of interpolator

• duration (float) – [in] Time it takes to from one end to the other.

ddx(t)

Acceleration at time t :type t: float :param t: [in] time between 0 and length :rtype: rw::math::Rotation3D< float > :return: Acceleration

duration()

Returns the duration of the interpolator

The duration is defined as the time it takes to move from one end of the interpolator to the other. :rtype: float :return: duration

dx(t)

Velocity at time t :type t: float :param t: [in] time between 0 and length :rtype: rw::math::Rotation3D< float > :return: Velocity

getEnd()

Returns the end position of the interpolator :rtype: rw::math::Rotation3D< float > :return: The end position of the interpolator

getStart()

Returns the start position of the interpolator :rtype: rw::math::Rotation3D< float > :return: The start position of the interpolator

property thisown

The membership flag

x(t)

Position at time t :type t: float :param t: [in] time between 0 and length :rtype: rw::math::Rotation3D< float > :return: Position

class sdurw_trajectory.sdurw_trajectory.LinearInterpolatorRotation3D_fCPtr(*args)

Bases: object

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

__init__(*args)

Overload 1:

Default constructor yielding a NULL-pointer.

Overload 2:

Do not take ownership of ptr.

ptr can be null.

The constructor is implicit on purpose.

ddx(t)

deref()

The pointer stored in the object.

duration()

dx(t)

getDeref()

Member access operator.

getEnd()

Returns the end position of the interpolator :rtype: rw::math::Rotation3D< float > :return: The end position of the interpolator

getStart()

Returns the start position of the interpolator :rtype: rw::math::Rotation3D< float > :return: The start position of the interpolator

isNull()

checks if the pointer is null :rtype: boolean :return: Returns true if the pointer is null

isShared()

check if this Ptr has shared ownership or none ownership :rtype: boolean :return: true if Ptr has shared ownership, false if it has no ownership.

property thisown

The membership flag

x(t)

class sdurw_trajectory.sdurw_trajectory.LinearInterpolatorRotation3D_fPtr(*args)

Bases: object

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

__init__(*args)

Overload 1:

Default constructor yielding a NULL-pointer.

Overload 2:

Do not take ownership of ptr.

ptr can be null.

The constructor is implicit on purpose.

cptr()

ddx(t)

deref()

The pointer stored in the object.

duration()

dx(t)

getDeref()

Member access operator.

getEnd()

Returns the end position of the interpolator :rtype: rw::math::Rotation3D< float > :return: The end position of the interpolator

getStart()

Returns the start position of the interpolator :rtype: rw::math::Rotation3D< float > :return: The start position of the interpolator

isNull()

checks if the pointer is null :rtype: boolean :return: Returns true if the pointer is null

isShared()

check if this Ptr has shared ownership or none ownership :rtype: boolean :return: true if Ptr has shared ownership, false if it has no ownership.

property thisown

The membership flag

x(t)

sdurw_trajectory.sdurw_trajectory.LinearInterpolatorSE3

alias of LinearInterpolatorTransform3D

sdurw_trajectory.sdurw_trajectory.LinearInterpolatorSO3

alias of LinearInterpolatorRotation3D

class sdurw_trajectory.sdurw_trajectory.LinearInterpolatorTransform3D(start, end, duration)

Bases: InterpolatorTransform3D

Make a linear interpolation between to position

Given a start \(\mathbf{s}\), end \(\mathbf{e}\) and duration \(d\) the interpolation is implemented as \(\mathbf{x}(t)=\mathbf{s} +(\mathbf{e}-\mathbf{s})*t/d\).

The template argument given needs to support addition with the “+” operator and scaling with a double using the “*” operator.

For use with a rw::math::Transform3D see the template specialization

__init__(start, end, duration)

Construct LinearInterpolator starting a start and finishing in end and taking duration time.

If duration <= 0 an exception is thrown

Parameters

• start (rw::math::Transform3D< double >) – [in] Start of interpolator

• end (rw::math::Transform3D< double >) – [in] End of interpolator

• duration (float) – [in] Time it takes to from one end to the other.

ddx(t)

Acceleration at time t :type t: float :param t: [in] time between 0 and length :rtype: rw::math::Transform3D< double > :return: Acceleration

duration()

Returns the duration of the interpolator

The duration is defined as the time it takes to move from one end of the interpolator to the other. :rtype: float :return: duration

dx(t)

Velocity at time t :type t: float :param t: [in] time between 0 and length :rtype: rw::math::Transform3D< double > :return: Velocity

getEnd()

Returns the end position of the interpolator :rtype: rw::math::Transform3D< double > :return: The end position of the interpolator

getStart()

Returns the start position of the interpolator :rtype: rw::math::Transform3D< double > :return: The start position of the interpolator

property thisown

The membership flag

x(t)

Position at time t :type t: float :param t: [in] time between 0 and length :rtype: rw::math::Transform3D< double > :return: Position

class sdurw_trajectory.sdurw_trajectory.LinearInterpolatorTransform3DCPtr(*args)

Bases: object

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

__init__(*args)

Overload 1:

Default constructor yielding a NULL-pointer.

Overload 2:

Do not take ownership of ptr.

ptr can be null.

The constructor is implicit on purpose.

ddx(t)

deref()

The pointer stored in the object.

duration()

dx(t)

getDeref()

Member access operator.

getEnd()

Returns the end position of the interpolator :rtype: rw::math::Transform3D< double > :return: The end position of the interpolator

getStart()

Returns the start position of the interpolator :rtype: rw::math::Transform3D< double > :return: The start position of the interpolator

isNull()

checks if the pointer is null :rtype: boolean :return: Returns true if the pointer is null

isShared()

check if this Ptr has shared ownership or none ownership :rtype: boolean :return: true if Ptr has shared ownership, false if it has no ownership.

property thisown

The membership flag

x(t)

class sdurw_trajectory.sdurw_trajectory.LinearInterpolatorTransform3DPtr(*args)

Bases: object

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

__init__(*args)

Overload 1:

Default constructor yielding a NULL-pointer.

Overload 2:

Do not take ownership of ptr.

ptr can be null.

The constructor is implicit on purpose.

cptr()

ddx(t)

deref()

The pointer stored in the object.

duration()

dx(t)

getDeref()

Member access operator.

getEnd()

Returns the end position of the interpolator :rtype: rw::math::Transform3D< double > :return: The end position of the interpolator

getStart()

Returns the start position of the interpolator :rtype: rw::math::Transform3D< double > :return: The start position of the interpolator

isNull()

checks if the pointer is null :rtype: boolean :return: Returns true if the pointer is null

isShared()

check if this Ptr has shared ownership or none ownership :rtype: boolean :return: true if Ptr has shared ownership, false if it has no ownership.

property thisown

The membership flag

x(t)

class sdurw_trajectory.sdurw_trajectory.LinearInterpolatorTransform3D_f(start, end, duration)

Bases: InterpolatorTransform3D_f

Make a linear interpolation between to position

Given a start \(\mathbf{s}\), end \(\mathbf{e}\) and duration \(d\) the interpolation is implemented as \(\mathbf{x}(t)=\mathbf{s} +(\mathbf{e}-\mathbf{s})*t/d\).

The template argument given needs to support addition with the “+” operator and scaling with a double using the “*” operator.

For use with a rw::math::Transform3D see the template specialization

__init__(start, end, duration)

Construct LinearInterpolator starting a start and finishing in end and taking duration time.

If duration <= 0 an exception is thrown

Parameters

• start (rw::math::Transform3D< float >) – [in] Start of interpolator

• end (rw::math::Transform3D< float >) – [in] End of interpolator

• duration (float) – [in] Time it takes to from one end to the other.

ddx(t)

Acceleration at time t :type t: float :param t: [in] time between 0 and length :rtype: rw::math::Transform3D< float > :return: Acceleration

duration()

Returns the duration of the interpolator

The duration is defined as the time it takes to move from one end of the interpolator to the other. :rtype: float :return: duration

dx(t)

Velocity at time t :type t: float :param t: [in] time between 0 and length :rtype: rw::math::Transform3D< float > :return: Velocity

getEnd()

Returns the end position of the interpolator :rtype: rw::math::Transform3D< float > :return: The end position of the interpolator

getStart()

Returns the start position of the interpolator :rtype: rw::math::Transform3D< float > :return: The start position of the interpolator

property thisown

The membership flag

x(t)

Position at time t :type t: float :param t: [in] time between 0 and length :rtype: rw::math::Transform3D< float > :return: Position

class sdurw_trajectory.sdurw_trajectory.LinearInterpolatorTransform3D_fCPtr(*args)

Bases: object

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

__init__(*args)

Overload 1:

Default constructor yielding a NULL-pointer.

Overload 2:

Do not take ownership of ptr.

ptr can be null.

The constructor is implicit on purpose.

ddx(t)

deref()

The pointer stored in the object.

duration()

dx(t)

getDeref()

Member access operator.

getEnd()

Returns the end position of the interpolator :rtype: rw::math::Transform3D< float > :return: The end position of the interpolator

getStart()

Returns the start position of the interpolator :rtype: rw::math::Transform3D< float > :return: The start position of the interpolator

isNull()

checks if the pointer is null :rtype: boolean :return: Returns true if the pointer is null

isShared()

check if this Ptr has shared ownership or none ownership :rtype: boolean :return: true if Ptr has shared ownership, false if it has no ownership.

property thisown

The membership flag

x(t)

class sdurw_trajectory.sdurw_trajectory.LinearInterpolatorTransform3D_fPtr(*args)

Bases: object

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

__init__(*args)

Overload 1:

Default constructor yielding a NULL-pointer.

Overload 2:

Do not take ownership of ptr.

ptr can be null.

The constructor is implicit on purpose.

cptr()

ddx(t)

deref()

The pointer stored in the object.

duration()

dx(t)

getDeref()

Member access operator.

getEnd()

Returns the end position of the interpolator :rtype: rw::math::Transform3D< float > :return: The end position of the interpolator

getStart()

Returns the start position of the interpolator :rtype: rw::math::Transform3D< float > :return: The start position of the interpolator

isNull()

checks if the pointer is null :rtype: boolean :return: Returns true if the pointer is null

isShared()

check if this Ptr has shared ownership or none ownership :rtype: boolean :return: true if Ptr has shared ownership, false if it has no ownership.

property thisown

The membership flag

x(t)

class sdurw_trajectory.sdurw_trajectory.LinearInterpolatorVector2D(start, end, duration)

Bases: InterpolatorVector2D

Make a linear interpolation between to position

Given a start \(\mathbf{s}\), end \(\mathbf{e}\) and duration \(d\) the interpolation is implemented as \(\mathbf{x}(t)=\mathbf{s} +(\mathbf{e}-\mathbf{s})*t/d\).

The template argument given needs to support addition with the “+” operator and scaling with a double using the “*” operator.

For use with a rw::math::Transform3D see the template specialization

__init__(start, end, duration)

Construct LinearInterpolator starting a start and finishing in end and taking duration time.

If duration <= 0 an exception is thrown

Parameters

• start (rw::math::Vector2D< double >) – [in] Start of interpolator

• end (rw::math::Vector2D< double >) – [in] End of interpolator

• duration (float) – [in] Time it takes to from one end to the other.

ddx(t)

Acceleration at time t :type t: float :param t: [in] time between 0 and length :rtype: rw::math::Vector2D< double > :return: Acceleration

duration()

Returns the duration of the interpolator

The duration is defined as the time it takes to move from one end of the interpolator to the other. :rtype: float :return: duration

dx(t)

Velocity at time t :type t: float :param t: [in] time between 0 and length :rtype: rw::math::Vector2D< double > :return: Velocity

getEnd()

Returns the end position of the interpolator :rtype: rw::math::Vector2D< double > :return: The end position of the interpolator

getStart()

Returns the start position of the interpolator :rtype: rw::math::Vector2D< double > :return: The start position of the interpolator

property thisown

The membership flag

x(t)

Position at time t :type t: float :param t: [in] time between 0 and length :rtype: rw::math::Vector2D< double > :return: Position

class sdurw_trajectory.sdurw_trajectory.LinearInterpolatorVector2DCPtr(*args)

Bases: object

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

__init__(*args)

Overload 1:

Default constructor yielding a NULL-pointer.

Overload 2:

Do not take ownership of ptr.

ptr can be null.

The constructor is implicit on purpose.

ddx(t)

deref()

The pointer stored in the object.

duration()

dx(t)

getDeref()

Member access operator.

getEnd()

Returns the end position of the interpolator :rtype: rw::math::Vector2D< double > :return: The end position of the interpolator

getStart()

Returns the start position of the interpolator :rtype: rw::math::Vector2D< double > :return: The start position of the interpolator

isNull()

checks if the pointer is null :rtype: boolean :return: Returns true if the pointer is null

isShared()

check if this Ptr has shared ownership or none ownership :rtype: boolean :return: true if Ptr has shared ownership, false if it has no ownership.

property thisown

The membership flag

x(t)

class sdurw_trajectory.sdurw_trajectory.LinearInterpolatorVector2DPtr(*args)

Bases: object

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

__init__(*args)

Overload 1:

Default constructor yielding a NULL-pointer.

Overload 2:

Do not take ownership of ptr.

ptr can be null.

The constructor is implicit on purpose.

cptr()

ddx(t)

deref()

The pointer stored in the object.

duration()

dx(t)

getDeref()

Member access operator.

getEnd()

Returns the end position of the interpolator :rtype: rw::math::Vector2D< double > :return: The end position of the interpolator

getStart()

Returns the start position of the interpolator :rtype: rw::math::Vector2D< double > :return: The start position of the interpolator

isNull()

checks if the pointer is null :rtype: boolean :return: Returns true if the pointer is null

isShared()

check if this Ptr has shared ownership or none ownership :rtype: boolean :return: true if Ptr has shared ownership, false if it has no ownership.

property thisown

The membership flag

x(t)

class sdurw_trajectory.sdurw_trajectory.LinearInterpolatorVector2D_f(start, end, duration)

Bases: InterpolatorVector2D_f

Make a linear interpolation between to position

Given a start \(\mathbf{s}\), end \(\mathbf{e}\) and duration \(d\) the interpolation is implemented as \(\mathbf{x}(t)=\mathbf{s} +(\mathbf{e}-\mathbf{s})*t/d\).

The template argument given needs to support addition with the “+” operator and scaling with a double using the “*” operator.

For use with a rw::math::Transform3D see the template specialization

__init__(start, end, duration)

Construct LinearInterpolator starting a start and finishing in end and taking duration time.

If duration <= 0 an exception is thrown

Parameters

• start (rw::math::Vector2D< float >) – [in] Start of interpolator

• end (rw::math::Vector2D< float >) – [in] End of interpolator

• duration (float) – [in] Time it takes to from one end to the other.

ddx(t)

Acceleration at time t :type t: float :param t: [in] time between 0 and length :rtype: rw::math::Vector2D< float > :return: Acceleration

duration()

Returns the duration of the interpolator

The duration is defined as the time it takes to move from one end of the interpolator to the other. :rtype: float :return: duration

dx(t)

Velocity at time t :type t: float :param t: [in] time between 0 and length :rtype: rw::math::Vector2D< float > :return: Velocity

getEnd()

Returns the end position of the interpolator :rtype: rw::math::Vector2D< float > :return: The end position of the interpolator

getStart()

Returns the start position of the interpolator :rtype: rw::math::Vector2D< float > :return: The start position of the interpolator

property thisown

The membership flag

x(t)

Position at time t :type t: float :param t: [in] time between 0 and length :rtype: rw::math::Vector2D< float > :return: Position

class sdurw_trajectory.sdurw_trajectory.LinearInterpolatorVector2D_fCPtr(*args)

Bases: object

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

__init__(*args)

Overload 1:

Default constructor yielding a NULL-pointer.

Overload 2:

Do not take ownership of ptr.

ptr can be null.

The constructor is implicit on purpose.

ddx(t)

deref()

The pointer stored in the object.

duration()

dx(t)

getDeref()

Member access operator.

getEnd()

Returns the end position of the interpolator :rtype: rw::math::Vector2D< float > :return: The end position of the interpolator

getStart()

Returns the start position of the interpolator :rtype: rw::math::Vector2D< float > :return: The start position of the interpolator

isNull()

checks if the pointer is null :rtype: boolean :return: Returns true if the pointer is null

isShared()

check if this Ptr has shared ownership or none ownership :rtype: boolean :return: true if Ptr has shared ownership, false if it has no ownership.

property thisown

The membership flag

x(t)

class sdurw_trajectory.sdurw_trajectory.LinearInterpolatorVector2D_fPtr(*args)

Bases: object

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

__init__(*args)

Overload 1:

Default constructor yielding a NULL-pointer.

Overload 2:

Do not take ownership of ptr.

ptr can be null.

The constructor is implicit on purpose.

cptr()

ddx(t)

deref()

The pointer stored in the object.

duration()

dx(t)

getDeref()

Member access operator.

getEnd()

Returns the end position of the interpolator :rtype: rw::math::Vector2D< float > :return: The end position of the interpolator

getStart()

Returns the start position of the interpolator :rtype: rw::math::Vector2D< float > :return: The start position of the interpolator

isNull()

checks if the pointer is null :rtype: boolean :return: Returns true if the pointer is null

isShared()

check if this Ptr has shared ownership or none ownership :rtype: boolean :return: true if Ptr has shared ownership, false if it has no ownership.

property thisown

The membership flag

x(t)

class sdurw_trajectory.sdurw_trajectory.LinearInterpolatorVector3D(start, end, duration)

Bases: InterpolatorVector3D

Make a linear interpolation between to position

Given a start \(\mathbf{s}\), end \(\mathbf{e}\) and duration \(d\) the interpolation is implemented as \(\mathbf{x}(t)=\mathbf{s} +(\mathbf{e}-\mathbf{s})*t/d\).

The template argument given needs to support addition with the “+” operator and scaling with a double using the “*” operator.

For use with a rw::math::Transform3D see the template specialization

__init__(start, end, duration)

Construct LinearInterpolator starting a start and finishing in end and taking duration time.

If duration <= 0 an exception is thrown

Parameters

• start (rw::math::Vector3D< double >) – [in] Start of interpolator

• end (rw::math::Vector3D< double >) – [in] End of interpolator

• duration (float) – [in] Time it takes to from one end to the other.

ddx(t)

Acceleration at time t :type t: float :param t: [in] time between 0 and length :rtype: rw::math::Vector3D< double > :return: Acceleration

duration()

Returns the duration of the interpolator

The duration is defined as the time it takes to move from one end of the interpolator to the other. :rtype: float :return: duration

dx(t)

Velocity at time t :type t: float :param t: [in] time between 0 and length :rtype: rw::math::Vector3D< double > :return: Velocity

getEnd()

Returns the end position of the interpolator :rtype: rw::math::Vector3D< double > :return: The end position of the interpolator

getStart()

Returns the start position of the interpolator :rtype: rw::math::Vector3D< double > :return: The start position of the interpolator

property thisown

The membership flag

x(t)

Position at time t :type t: float :param t: [in] time between 0 and length :rtype: rw::math::Vector3D< double > :return: Position

class sdurw_trajectory.sdurw_trajectory.LinearInterpolatorVector3DCPtr(*args)

Bases: object

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

__init__(*args)

Overload 1:

Default constructor yielding a NULL-pointer.

Overload 2:

Do not take ownership of ptr.

ptr can be null.

The constructor is implicit on purpose.

ddx(t)

deref()

The pointer stored in the object.

duration()

dx(t)

getDeref()

Member access operator.

getEnd()

Returns the end position of the interpolator :rtype: rw::math::Vector3D< double > :return: The end position of the interpolator

getStart()

Returns the start position of the interpolator :rtype: rw::math::Vector3D< double > :return: The start position of the interpolator

isNull()

checks if the pointer is null :rtype: boolean :return: Returns true if the pointer is null

isShared()

check if this Ptr has shared ownership or none ownership :rtype: boolean :return: true if Ptr has shared ownership, false if it has no ownership.

property thisown

The membership flag

x(t)

class sdurw_trajectory.sdurw_trajectory.LinearInterpolatorVector3DPtr(*args)

Bases: object

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

__init__(*args)

Overload 1:

Default constructor yielding a NULL-pointer.

Overload 2:

Do not take ownership of ptr.

ptr can be null.

The constructor is implicit on purpose.

cptr()

ddx(t)

deref()

The pointer stored in the object.

duration()

dx(t)

getDeref()

Member access operator.

getEnd()

Returns the end position of the interpolator :rtype: rw::math::Vector3D< double > :return: The end position of the interpolator

getStart()

Returns the start position of the interpolator :rtype: rw::math::Vector3D< double > :return: The start position of the interpolator

isNull()

checks if the pointer is null :rtype: boolean :return: Returns true if the pointer is null

isShared()

check if this Ptr has shared ownership or none ownership :rtype: boolean :return: true if Ptr has shared ownership, false if it has no ownership.

property thisown

The membership flag

x(t)

class sdurw_trajectory.sdurw_trajectory.LinearInterpolatorVector3D_f(start, end, duration)

Bases: InterpolatorVector3D_f

Make a linear interpolation between to position

Given a start \(\mathbf{s}\), end \(\mathbf{e}\) and duration \(d\) the interpolation is implemented as \(\mathbf{x}(t)=\mathbf{s} +(\mathbf{e}-\mathbf{s})*t/d\).

The template argument given needs to support addition with the “+” operator and scaling with a double using the “*” operator.

For use with a rw::math::Transform3D see the template specialization

__init__(start, end, duration)

Construct LinearInterpolator starting a start and finishing in end and taking duration time.

If duration <= 0 an exception is thrown

Parameters

• start (rw::math::Vector3D< float >) – [in] Start of interpolator

• end (rw::math::Vector3D< float >) – [in] End of interpolator

• duration (float) – [in] Time it takes to from one end to the other.

ddx(t)

Acceleration at time t :type t: float :param t: [in] time between 0 and length :rtype: rw::math::Vector3D< float > :return: Acceleration

duration()

Returns the duration of the interpolator

The duration is defined as the time it takes to move from one end of the interpolator to the other. :rtype: float :return: duration

dx(t)

Velocity at time t :type t: float :param t: [in] time between 0 and length :rtype: rw::math::Vector3D< float > :return: Velocity

getEnd()

Returns the end position of the interpolator :rtype: rw::math::Vector3D< float > :return: The end position of the interpolator

getStart()

Returns the start position of the interpolator :rtype: rw::math::Vector3D< float > :return: The start position of the interpolator

property thisown

The membership flag

x(t)

Position at time t :type t: float :param t: [in] time between 0 and length :rtype: rw::math::Vector3D< float > :return: Position

class sdurw_trajectory.sdurw_trajectory.LinearInterpolatorVector3D_fCPtr(*args)

Bases: object

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

__init__(*args)

Overload 1:

Default constructor yielding a NULL-pointer.

Overload 2:

Do not take ownership of ptr.

ptr can be null.

The constructor is implicit on purpose.

ddx(t)

deref()

The pointer stored in the object.

duration()

dx(t)

getDeref()

Member access operator.

getEnd()

Returns the end position of the interpolator :rtype: rw::math::Vector3D< float > :return: The end position of the interpolator

getStart()

Returns the start position of the interpolator :rtype: rw::math::Vector3D< float > :return: The start position of the interpolator

isNull()

checks if the pointer is null :rtype: boolean :return: Returns true if the pointer is null

isShared()

check if this Ptr has shared ownership or none ownership :rtype: boolean :return: true if Ptr has shared ownership, false if it has no ownership.

property thisown

The membership flag

x(t)

class sdurw_trajectory.sdurw_trajectory.LinearInterpolatorVector3D_fPtr(*args)

Bases: object

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

__init__(*args)

Overload 1:

Default constructor yielding a NULL-pointer.

Overload 2:

Do not take ownership of ptr.

ptr can be null.

The constructor is implicit on purpose.

cptr()

ddx(t)

deref()

The pointer stored in the object.

duration()

dx(t)

getDeref()

Member access operator.

getEnd()

Returns the end position of the interpolator :rtype: rw::math::Vector3D< float > :return: The end position of the interpolator

getStart()

Returns the start position of the interpolator :rtype: rw::math::Vector3D< float > :return: The start position of the interpolator

isNull()

checks if the pointer is null :rtype: boolean :return: Returns true if the pointer is null

isShared()

check if this Ptr has shared ownership or none ownership :rtype: boolean :return: true if Ptr has shared ownership, false if it has no ownership.

property thisown

The membership flag

x(t)

class sdurw_trajectory.sdurw_trajectory.LinearInterpolator_d(start, end, duration)

Bases: Interpolator_d

Make a linear interpolation between to position

Given a start \(\mathbf{s}\), end \(\mathbf{e}\) and duration \(d\) the interpolation is implemented as \(\mathbf{x}(t)=\mathbf{s} +(\mathbf{e}-\mathbf{s})*t/d\).

The template argument given needs to support addition with the “+” operator and scaling with a double using the “*” operator.

For use with a rw::math::Transform3D see the template specialization

__init__(start, end, duration)

Construct LinearInterpolator starting a start and finishing in end and taking duration time.

If duration <= 0 an exception is thrown

Parameters

• start (float) – [in] Start of interpolator

• end (float) – [in] End of interpolator

• duration (float) – [in] Time it takes to from one end to the other.

ddx(t)

Acceleration at time t :type t: float :param t: [in] time between 0 and length :rtype: float :return: Acceleration

duration()

Returns the duration of the interpolator

The duration is defined as the time it takes to move from one end of the interpolator to the other. :rtype: float :return: duration

dx(t)

Velocity at time t :type t: float :param t: [in] time between 0 and length :rtype: float :return: Velocity

getEnd()

Returns the end position of the interpolator :rtype: float :return: The end position of the interpolator

getStart()

Returns the start position of the interpolator :rtype: float :return: The start position of the interpolator

property thisown

The membership flag

x(t)

Position at time t :type t: float :param t: [in] time between 0 and length :rtype: float :return: Position

class sdurw_trajectory.sdurw_trajectory.LinearInterpolator_dCPtr(*args)

Bases: object

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

__init__(*args)

Overload 1:

Default constructor yielding a NULL-pointer.

Overload 2:

Do not take ownership of ptr.

ptr can be null.

The constructor is implicit on purpose.

ddx(t)

deref()

The pointer stored in the object.

duration()

dx(t)

getDeref()

Member access operator.

getEnd()

Returns the end position of the interpolator :rtype: float :return: The end position of the interpolator

getStart()

Returns the start position of the interpolator :rtype: float :return: The start position of the interpolator

isNull()

checks if the pointer is null :rtype: boolean :return: Returns true if the pointer is null

isShared()

check if this Ptr has shared ownership or none ownership :rtype: boolean :return: true if Ptr has shared ownership, false if it has no ownership.

property thisown

The membership flag

x(t)

class sdurw_trajectory.sdurw_trajectory.LinearInterpolator_dPtr(*args)

Bases: object

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

__init__(*args)

Overload 1:

Default constructor yielding a NULL-pointer.

Overload 2:

Do not take ownership of ptr.

ptr can be null.

The constructor is implicit on purpose.

cptr()

ddx(t)

deref()

The pointer stored in the object.

duration()

dx(t)

getDeref()

Member access operator.

getEnd()

Returns the end position of the interpolator :rtype: float :return: The end position of the interpolator

getStart()

Returns the start position of the interpolator :rtype: float :return: The start position of the interpolator

isNull()

checks if the pointer is null :rtype: boolean :return: Returns true if the pointer is null

isShared()

check if this Ptr has shared ownership or none ownership :rtype: boolean :return: true if Ptr has shared ownership, false if it has no ownership.

property thisown

The membership flag

x(t)

class sdurw_trajectory.sdurw_trajectory.LinearInterpolator_d_f(start, end, duration)

Bases: Interpolator_d_f

Make a linear interpolation between to position

Given a start \(\mathbf{s}\), end \(\mathbf{e}\) and duration \(d\) the interpolation is implemented as \(\mathbf{x}(t)=\mathbf{s} +(\mathbf{e}-\mathbf{s})*t/d\).

The template argument given needs to support addition with the “+” operator and scaling with a double using the “*” operator.

For use with a rw::math::Transform3D see the template specialization

__init__(start, end, duration)

Construct LinearInterpolator starting a start and finishing in end and taking duration time.

If duration <= 0 an exception is thrown

Parameters

• start (float) – [in] Start of interpolator

• end (float) – [in] End of interpolator

• duration (float) – [in] Time it takes to from one end to the other.

ddx(t)

Acceleration at time t :type t: float :param t: [in] time between 0 and length :rtype: float :return: Acceleration

duration()

Returns the duration of the interpolator

The duration is defined as the time it takes to move from one end of the interpolator to the other. :rtype: float :return: duration

dx(t)

Velocity at time t :type t: float :param t: [in] time between 0 and length :rtype: float :return: Velocity

getEnd()

Returns the end position of the interpolator :rtype: float :return: The end position of the interpolator

getStart()

Returns the start position of the interpolator :rtype: float :return: The start position of the interpolator

property thisown

The membership flag

x(t)

Position at time t :type t: float :param t: [in] time between 0 and length :rtype: float :return: Position

class sdurw_trajectory.sdurw_trajectory.LinearInterpolator_d_fCPtr(*args)

Bases: object

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

__init__(*args)

Overload 1:

Default constructor yielding a NULL-pointer.

Overload 2:

Do not take ownership of ptr.

ptr can be null.

The constructor is implicit on purpose.

ddx(t)

deref()

The pointer stored in the object.

duration()

dx(t)

getDeref()

Member access operator.

getEnd()

Returns the end position of the interpolator :rtype: float :return: The end position of the interpolator

getStart()

Returns the start position of the interpolator :rtype: float :return: The start position of the interpolator

isNull()

checks if the pointer is null :rtype: boolean :return: Returns true if the pointer is null

isShared()

check if this Ptr has shared ownership or none ownership :rtype: boolean :return: true if Ptr has shared ownership, false if it has no ownership.

property thisown

The membership flag

x(t)

class sdurw_trajectory.sdurw_trajectory.LinearInterpolator_d_fPtr(*args)

Bases: object

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

__init__(*args)

Overload 1:

Default constructor yielding a NULL-pointer.

Overload 2:

Do not take ownership of ptr.

ptr can be null.

The constructor is implicit on purpose.

cptr()

ddx(t)

deref()

The pointer stored in the object.

duration()

dx(t)

getDeref()

Member access operator.

getEnd()

Returns the end position of the interpolator :rtype: float :return: The end position of the interpolator

getStart()

Returns the start position of the interpolator :rtype: float :return: The start position of the interpolator

isNull()

checks if the pointer is null :rtype: boolean :return: Returns true if the pointer is null

isShared()

check if this Ptr has shared ownership or none ownership :rtype: boolean :return: true if Ptr has shared ownership, false if it has no ownership.

property thisown

The membership flag

x(t)

class sdurw_trajectory.sdurw_trajectory.LloydHaywardBlendQ(*args)

Bases: BlendQ

Implements LloydHayward blending

The LloydHayward blend [1], makes a smooth continous differentiable transition between two interpolators.

[1]: J. Lloyd, V. Hayward. Real-Time Trajectory Generation Using Blend Functions,

Proc. Int. Conf. on Robotics and Automation, 1991, pp. 784-798.

__init__(*args)

Constructs LloydHaywardBlend between interpolator1 and interpolator2.

The blend starts tau before the end of interpolator1 and finished tau after the start of interpolator2. The constant kappa specifies characteristics of the blend as described in [1].

Parameters

• interpolator1 (rw::trajectory::Interpolator< rw::math::Q >) – [in] First interpolator, no ownership transferred

• interpolator2 (rw::trajectory::Interpolator< rw::math::Q >) – [in] Second interpolator, no ownership transferred

• tau (float) – [in] Blend time

• kappa (float, optional) – [in] Blend characteristic (default 15/2 for acceleration minimal blend between linie segments)

ddx(t)

The acceleration for a given time t :type t: float :param t: [in] \(t\in[0,\tau_1+\tau_2]\) :rtype: Q :return: Acceleration at time t

dx(t)

The velocity for a given time t :type t: float :param t: [in] \(t\in[0,\tau_1+\tau_2]\) :rtype: Q :return: Velocity at time t

kappa()

Returns the kappa value used in the blend

tau1()

Notes: For ParabolicBlend getTau1()==getTau2()

tau2()

Notes: For ParabolicBlend getTau1()==getTau2()

property thisown

The membership flag

x(t)

<T>::x

class sdurw_trajectory.sdurw_trajectory.LloydHaywardBlendQCPtr(*args)

Bases: object

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

__init__(*args)

Overload 1:

Default constructor yielding a NULL-pointer.

Overload 2:

Do not take ownership of ptr.

ptr can be null.

The constructor is implicit on purpose.

ddx(t)

deref()

The pointer stored in the object.

dx(t)

getDeref()

Member access operator.

isNull()

checks if the pointer is null :rtype: boolean :return: Returns true if the pointer is null

isShared()

check if this Ptr has shared ownership or none ownership :rtype: boolean :return: true if Ptr has shared ownership, false if it has no ownership.

kappa()

Returns the kappa value used in the blend

tau1()

Notes: For ParabolicBlend getTau1()==getTau2()

tau2()

Notes: For ParabolicBlend getTau1()==getTau2()

property thisown

The membership flag

x(t)

<T>::x

class sdurw_trajectory.sdurw_trajectory.LloydHaywardBlendQPtr(*args)

Bases: object

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

__init__(*args)

Overload 1:

Default constructor yielding a NULL-pointer.

Overload 2:

Do not take ownership of ptr.

ptr can be null.

The constructor is implicit on purpose.

cptr()

ddx(t)

deref()

The pointer stored in the object.

dx(t)

getDeref()

Member access operator.

isNull()

checks if the pointer is null :rtype: boolean :return: Returns true if the pointer is null

isShared()

check if this Ptr has shared ownership or none ownership :rtype: boolean :return: true if Ptr has shared ownership, false if it has no ownership.

kappa()

Returns the kappa value used in the blend

tau1()

Notes: For ParabolicBlend getTau1()==getTau2()

tau2()

Notes: For ParabolicBlend getTau1()==getTau2()

property thisown

The membership flag

x(t)

<T>::x

sdurw_trajectory.sdurw_trajectory.LloydHaywardBlendR1

alias of LloydHaywardBlend_d

sdurw_trajectory.sdurw_trajectory.LloydHaywardBlendR2

alias of LloydHaywardBlendVector2D

sdurw_trajectory.sdurw_trajectory.LloydHaywardBlendR3

alias of LloydHaywardBlendVector3D

class sdurw_trajectory.sdurw_trajectory.LloydHaywardBlendRotation3D(*args)

Bases: BlendRotation3D

Implements LloydHayward blending

The LloydHayward blend [1], makes a smooth continous differentiable transition between two interpolators.

[1]: J. Lloyd, V. Hayward. Real-Time Trajectory Generation Using Blend Functions,

Proc. Int. Conf. on Robotics and Automation, 1991, pp. 784-798.

__init__(*args)

Constructs LloydHaywardBlend between interpolator1 and interpolator2.

The blend starts tau before the end of interpolator1 and finished tau after the start of interpolator2. The constant kappa specifies characteristics of the blend as described in [1].

Parameters

• interpolator1 (rw::trajectory::Interpolator< rw::math::Rotation3D< double > >) – [in] First interpolator, no ownership transferred

• interpolator2 (rw::trajectory::Interpolator< rw::math::Rotation3D< double > >) – [in] Second interpolator, no ownership transferred

• tau (float) – [in] Blend time

• kappa (float, optional) – [in] Blend characteristic (default 15/2 for acceleration minimal blend between linie segments)

ddx(t)

The acceleration for a given time t :type t: float :param t: [in] \(t\in[0,\tau_1+\tau_2]\) :rtype: rw::math::Rotation3D< double > :return: Acceleration at time t

dx(t)

The velocity for a given time t :type t: float :param t: [in] \(t\in[0,\tau_1+\tau_2]\) :rtype: rw::math::Rotation3D< double > :return: Velocity at time t

kappa()

Returns the kappa value used in the blend

tau1()

Notes: For ParabolicBlend getTau1()==getTau2()

tau2()

Notes: For ParabolicBlend getTau1()==getTau2()

property thisown

The membership flag

x(t)

<T>::x

class sdurw_trajectory.sdurw_trajectory.LloydHaywardBlendRotation3DCPtr(*args)

Bases: object

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

__init__(*args)

Overload 1:

Default constructor yielding a NULL-pointer.

Overload 2:

Do not take ownership of ptr.

ptr can be null.

The constructor is implicit on purpose.

ddx(t)

deref()

The pointer stored in the object.

dx(t)

getDeref()

Member access operator.

isNull()

checks if the pointer is null :rtype: boolean :return: Returns true if the pointer is null

isShared()

check if this Ptr has shared ownership or none ownership :rtype: boolean :return: true if Ptr has shared ownership, false if it has no ownership.

kappa()

Returns the kappa value used in the blend

tau1()

Notes: For ParabolicBlend getTau1()==getTau2()

tau2()

Notes: For ParabolicBlend getTau1()==getTau2()

property thisown

The membership flag

x(t)

<T>::x

class sdurw_trajectory.sdurw_trajectory.LloydHaywardBlendRotation3DPtr(*args)

Bases: object

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

__init__(*args)

Overload 1:

Default constructor yielding a NULL-pointer.

Overload 2:

Do not take ownership of ptr.

ptr can be null.

The constructor is implicit on purpose.

cptr()

ddx(t)

deref()

The pointer stored in the object.

dx(t)

getDeref()

Member access operator.

isNull()

checks if the pointer is null :rtype: boolean :return: Returns true if the pointer is null

isShared()

check if this Ptr has shared ownership or none ownership :rtype: boolean :return: true if Ptr has shared ownership, false if it has no ownership.

kappa()

Returns the kappa value used in the blend

tau1()

Notes: For ParabolicBlend getTau1()==getTau2()

tau2()

Notes: For ParabolicBlend getTau1()==getTau2()

property thisown

The membership flag

x(t)

<T>::x

class sdurw_trajectory.sdurw_trajectory.LloydHaywardBlendRotation3D_f(*args)

Bases: BlendRotation3D_f

Implements LloydHayward blending

The LloydHayward blend [1], makes a smooth continous differentiable transition between two interpolators.

[1]: J. Lloyd, V. Hayward. Real-Time Trajectory Generation Using Blend Functions,

Proc. Int. Conf. on Robotics and Automation, 1991, pp. 784-798.

__init__(*args)

Constructs LloydHaywardBlend between interpolator1 and interpolator2.

The blend starts tau before the end of interpolator1 and finished tau after the start of interpolator2. The constant kappa specifies characteristics of the blend as described in [1].

Parameters

• interpolator1 (rw::trajectory::Interpolator< rw::math::Rotation3D< float > >) – [in] First interpolator, no ownership transferred

• interpolator2 (rw::trajectory::Interpolator< rw::math::Rotation3D< float > >) – [in] Second interpolator, no ownership transferred

• tau (float) – [in] Blend time

• kappa (float, optional) – [in] Blend characteristic (default 15/2 for acceleration minimal blend between linie segments)

ddx(t)

The acceleration for a given time t :type t: float :param t: [in] \(t\in[0,\tau_1+\tau_2]\) :rtype: rw::math::Rotation3D< float > :return: Acceleration at time t

dx(t)

The velocity for a given time t :type t: float :param t: [in] \(t\in[0,\tau_1+\tau_2]\) :rtype: rw::math::Rotation3D< float > :return: Velocity at time t

kappa()

Returns the kappa value used in the blend

tau1()

Notes: For ParabolicBlend getTau1()==getTau2()

tau2()

Notes: For ParabolicBlend getTau1()==getTau2()

property thisown

The membership flag

x(t)

<T>::x

class sdurw_trajectory.sdurw_trajectory.LloydHaywardBlendRotation3D_fCPtr(*args)

Bases: object

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

__init__(*args)

Overload 1:

Default constructor yielding a NULL-pointer.

Overload 2:

Do not take ownership of ptr.

ptr can be null.

The constructor is implicit on purpose.

ddx(t)

deref()

The pointer stored in the object.

dx(t)

getDeref()

Member access operator.

isNull()

checks if the pointer is null :rtype: boolean :return: Returns true if the pointer is null

isShared()

check if this Ptr has shared ownership or none ownership :rtype: boolean :return: true if Ptr has shared ownership, false if it has no ownership.

kappa()

Returns the kappa value used in the blend

tau1()

Notes: For ParabolicBlend getTau1()==getTau2()

tau2()

Notes: For ParabolicBlend getTau1()==getTau2()

property thisown

The membership flag

x(t)

<T>::x

class sdurw_trajectory.sdurw_trajectory.LloydHaywardBlendRotation3D_fPtr(*args)

Bases: object

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

__init__(*args)

Overload 1:

Default constructor yielding a NULL-pointer.

Overload 2:

Do not take ownership of ptr.

ptr can be null.

The constructor is implicit on purpose.

cptr()

ddx(t)

deref()

The pointer stored in the object.

dx(t)

getDeref()

Member access operator.

isNull()

checks if the pointer is null :rtype: boolean :return: Returns true if the pointer is null

isShared()

check if this Ptr has shared ownership or none ownership :rtype: boolean :return: true if Ptr has shared ownership, false if it has no ownership.

kappa()

Returns the kappa value used in the blend

tau1()

Notes: For ParabolicBlend getTau1()==getTau2()

tau2()

Notes: For ParabolicBlend getTau1()==getTau2()

property thisown

The membership flag

x(t)

<T>::x

sdurw_trajectory.sdurw_trajectory.LloydHaywardBlendSE3

alias of LloydHaywardBlendTransform3D

sdurw_trajectory.sdurw_trajectory.LloydHaywardBlendSO3

alias of LloydHaywardBlendRotation3D

class sdurw_trajectory.sdurw_trajectory.LloydHaywardBlendTransform3D(*args)

Bases: BlendTransform3D

Implements LloydHayward blending

The LloydHayward blend [1], makes a smooth continous differentiable transition between two interpolators.

[1]: J. Lloyd, V. Hayward. Real-Time Trajectory Generation Using Blend Functions,

Proc. Int. Conf. on Robotics and Automation, 1991, pp. 784-798.

__init__(*args)

Constructs LloydHaywardBlend between interpolator1 and interpolator2.

The blend starts tau before the end of interpolator1 and finished tau after the start of interpolator2. The constant kappa specifies characteristics of the blend as described in [1].

Parameters

• interpolator1 (rw::trajectory::Interpolator< rw::math::Transform3D< double > >) – [in] First interpolator, no ownership transferred

• interpolator2 (rw::trajectory::Interpolator< rw::math::Transform3D< double > >) – [in] Second interpolator, no ownership transferred

• tau (float) – [in] Blend time

• kappa (float, optional) – [in] Blend characteristic (default 15/2 for acceleration minimal blend between linie segments)

ddx(t)

The acceleration for a given time t :type t: float :param t: [in] \(t\in[0,\tau_1+\tau_2]\) :rtype: rw::math::Transform3D< double > :return: Acceleration at time t

dx(t)

The velocity for a given time t :type t: float :param t: [in] \(t\in[0,\tau_1+\tau_2]\) :rtype: rw::math::Transform3D< double > :return: Velocity at time t

kappa()

Returns the kappa value used in the blend

tau1()

Notes: For ParabolicBlend getTau1()==getTau2()

tau2()

Notes: For ParabolicBlend getTau1()==getTau2()

property thisown

The membership flag

x(t)

<T>::x

class sdurw_trajectory.sdurw_trajectory.LloydHaywardBlendTransform3DCPtr(*args)

Bases: object

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

__init__(*args)

Overload 1:

Default constructor yielding a NULL-pointer.

Overload 2:

Do not take ownership of ptr.

ptr can be null.

The constructor is implicit on purpose.

ddx(t)

deref()

The pointer stored in the object.

dx(t)

getDeref()

Member access operator.

isNull()

checks if the pointer is null :rtype: boolean :return: Returns true if the pointer is null

isShared()

check if this Ptr has shared ownership or none ownership :rtype: boolean :return: true if Ptr has shared ownership, false if it has no ownership.

kappa()

Returns the kappa value used in the blend

tau1()

Notes: For ParabolicBlend getTau1()==getTau2()

tau2()

Notes: For ParabolicBlend getTau1()==getTau2()

property thisown

The membership flag

x(t)

<T>::x

class sdurw_trajectory.sdurw_trajectory.LloydHaywardBlendTransform3DPtr(*args)

Bases: object

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

__init__(*args)

Overload 1:

Default constructor yielding a NULL-pointer.

Overload 2:

Do not take ownership of ptr.

ptr can be null.

The constructor is implicit on purpose.

cptr()

ddx(t)

deref()

The pointer stored in the object.

dx(t)

getDeref()

Member access operator.

isNull()

checks if the pointer is null :rtype: boolean :return: Returns true if the pointer is null

isShared()

check if this Ptr has shared ownership or none ownership :rtype: boolean :return: true if Ptr has shared ownership, false if it has no ownership.

kappa()

Returns the kappa value used in the blend

tau1()

Notes: For ParabolicBlend getTau1()==getTau2()

tau2()

Notes: For ParabolicBlend getTau1()==getTau2()

property thisown

The membership flag

x(t)

<T>::x

class sdurw_trajectory.sdurw_trajectory.LloydHaywardBlendTransform3D_f(*args)

Bases: BlendTransform3D_f

Implements LloydHayward blending

The LloydHayward blend [1], makes a smooth continous differentiable transition between two interpolators.

[1]: J. Lloyd, V. Hayward. Real-Time Trajectory Generation Using Blend Functions,

Proc. Int. Conf. on Robotics and Automation, 1991, pp. 784-798.

__init__(*args)

Constructs LloydHaywardBlend between interpolator1 and interpolator2.

The blend starts tau before the end of interpolator1 and finished tau after the start of interpolator2. The constant kappa specifies characteristics of the blend as described in [1].

Parameters

• interpolator1 (rw::trajectory::Interpolator< rw::math::Transform3D< float > >) – [in] First interpolator, no ownership transferred

• interpolator2 (rw::trajectory::Interpolator< rw::math::Transform3D< float > >) – [in] Second interpolator, no ownership transferred

• tau (float) – [in] Blend time

• kappa (float, optional) – [in] Blend characteristic (default 15/2 for acceleration minimal blend between linie segments)

ddx(t)

The acceleration for a given time t :type t: float :param t: [in] \(t\in[0,\tau_1+\tau_2]\) :rtype: rw::math::Transform3D< float > :return: Acceleration at time t

dx(t)

The velocity for a given time t :type t: float :param t: [in] \(t\in[0,\tau_1+\tau_2]\) :rtype: rw::math::Transform3D< float > :return: Velocity at time t

kappa()

Returns the kappa value used in the blend

tau1()

Notes: For ParabolicBlend getTau1()==getTau2()

tau2()

Notes: For ParabolicBlend getTau1()==getTau2()

property thisown

The membership flag

x(t)

<T>::x

class sdurw_trajectory.sdurw_trajectory.LloydHaywardBlendTransform3D_fCPtr(*args)

Bases: object

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

__init__(*args)

Overload 1:

Default constructor yielding a NULL-pointer.

Overload 2:

Do not take ownership of ptr.

ptr can be null.

The constructor is implicit on purpose.

ddx(t)

deref()

The pointer stored in the object.

dx(t)

getDeref()

Member access operator.

isNull()

checks if the pointer is null :rtype: boolean :return: Returns true if the pointer is null

isShared()

check if this Ptr has shared ownership or none ownership :rtype: boolean :return: true if Ptr has shared ownership, false if it has no ownership.

kappa()

Returns the kappa value used in the blend

tau1()

Notes: For ParabolicBlend getTau1()==getTau2()

tau2()

Notes: For ParabolicBlend getTau1()==getTau2()

property thisown

The membership flag

x(t)

<T>::x

class sdurw_trajectory.sdurw_trajectory.LloydHaywardBlendTransform3D_fPtr(*args)

Bases: object

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

__init__(*args)

Overload 1:

Default constructor yielding a NULL-pointer.

Overload 2:

Do not take ownership of ptr.

ptr can be null.

The constructor is implicit on purpose.

cptr()

ddx(t)

deref()

The pointer stored in the object.

dx(t)

getDeref()

Member access operator.

isNull()

checks if the pointer is null :rtype: boolean :return: Returns true if the pointer is null

isShared()

check if this Ptr has shared ownership or none ownership :rtype: boolean :return: true if Ptr has shared ownership, false if it has no ownership.

kappa()

Returns the kappa value used in the blend

tau1()

Notes: For ParabolicBlend getTau1()==getTau2()

tau2()

Notes: For ParabolicBlend getTau1()==getTau2()

property thisown

The membership flag

x(t)

<T>::x

class sdurw_trajectory.sdurw_trajectory.LloydHaywardBlendVector2D(*args)

Bases: BlendVector2D

Implements LloydHayward blending

The LloydHayward blend [1], makes a smooth continous differentiable transition between two interpolators.

[1]: J. Lloyd, V. Hayward. Real-Time Trajectory Generation Using Blend Functions,

Proc. Int. Conf. on Robotics and Automation, 1991, pp. 784-798.

__init__(*args)

Constructs LloydHaywardBlend between interpolator1 and interpolator2.

The blend starts tau before the end of interpolator1 and finished tau after the start of interpolator2. The constant kappa specifies characteristics of the blend as described in [1].

Parameters

• interpolator1 (rw::trajectory::Interpolator< rw::math::Vector2D< double > >) – [in] First interpolator, no ownership transferred

• interpolator2 (rw::trajectory::Interpolator< rw::math::Vector2D< double > >) – [in] Second interpolator, no ownership transferred

• tau (float) – [in] Blend time

• kappa (float, optional) – [in] Blend characteristic (default 15/2 for acceleration minimal blend between linie segments)

ddx(t)

The acceleration for a given time t :type t: float :param t: [in] \(t\in[0,\tau_1+\tau_2]\) :rtype: rw::math::Vector2D< double > :return: Acceleration at time t

dx(t)

The velocity for a given time t :type t: float :param t: [in] \(t\in[0,\tau_1+\tau_2]\) :rtype: rw::math::Vector2D< double > :return: Velocity at time t

kappa()

Returns the kappa value used in the blend

tau1()

Notes: For ParabolicBlend getTau1()==getTau2()

tau2()

Notes: For ParabolicBlend getTau1()==getTau2()

property thisown

The membership flag

x(t)

<T>::x

class sdurw_trajectory.sdurw_trajectory.LloydHaywardBlendVector2DCPtr(*args)

Bases: object

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

__init__(*args)

Overload 1:

Default constructor yielding a NULL-pointer.

Overload 2:

Do not take ownership of ptr.

ptr can be null.

The constructor is implicit on purpose.

ddx(t)

deref()

The pointer stored in the object.

dx(t)

getDeref()

Member access operator.

isNull()

checks if the pointer is null :rtype: boolean :return: Returns true if the pointer is null

isShared()

check if this Ptr has shared ownership or none ownership :rtype: boolean :return: true if Ptr has shared ownership, false if it has no ownership.

kappa()

Returns the kappa value used in the blend

tau1()

Notes: For ParabolicBlend getTau1()==getTau2()

tau2()

Notes: For ParabolicBlend getTau1()==getTau2()

property thisown

The membership flag

x(t)

<T>::x

class sdurw_trajectory.sdurw_trajectory.LloydHaywardBlendVector2DPtr(*args)

Bases: object

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

__init__(*args)

Overload 1:

Default constructor yielding a NULL-pointer.

Overload 2:

Do not take ownership of ptr.

ptr can be null.

The constructor is implicit on purpose.

cptr()

ddx(t)

deref()

The pointer stored in the object.

dx(t)

getDeref()

Member access operator.

isNull()

checks if the pointer is null :rtype: boolean :return: Returns true if the pointer is null

isShared()

check if this Ptr has shared ownership or none ownership :rtype: boolean :return: true if Ptr has shared ownership, false if it has no ownership.

kappa()

Returns the kappa value used in the blend

tau1()

Notes: For ParabolicBlend getTau1()==getTau2()

tau2()

Notes: For ParabolicBlend getTau1()==getTau2()

property thisown

The membership flag

x(t)

<T>::x

class sdurw_trajectory.sdurw_trajectory.LloydHaywardBlendVector2D_f(*args)

Bases: BlendVector2D_f

Implements LloydHayward blending

The LloydHayward blend [1], makes a smooth continous differentiable transition between two interpolators.

[1]: J. Lloyd, V. Hayward. Real-Time Trajectory Generation Using Blend Functions,

Proc. Int. Conf. on Robotics and Automation, 1991, pp. 784-798.

__init__(*args)

Constructs LloydHaywardBlend between interpolator1 and interpolator2.

The blend starts tau before the end of interpolator1 and finished tau after the start of interpolator2. The constant kappa specifies characteristics of the blend as described in [1].

Parameters

• interpolator1 (rw::trajectory::Interpolator< rw::math::Vector2D< float > >) – [in] First interpolator, no ownership transferred

• interpolator2 (rw::trajectory::Interpolator< rw::math::Vector2D< float > >) – [in] Second interpolator, no ownership transferred

• tau (float) – [in] Blend time

• kappa (float, optional) – [in] Blend characteristic (default 15/2 for acceleration minimal blend between linie segments)

ddx(t)

The acceleration for a given time t :type t: float :param t: [in] \(t\in[0,\tau_1+\tau_2]\) :rtype: rw::math::Vector2D< float > :return: Acceleration at time t

dx(t)

The velocity for a given time t :type t: float :param t: [in] \(t\in[0,\tau_1+\tau_2]\) :rtype: rw::math::Vector2D< float > :return: Velocity at time t

kappa()

Returns the kappa value used in the blend

tau1()

Notes: For ParabolicBlend getTau1()==getTau2()

tau2()

Notes: For ParabolicBlend getTau1()==getTau2()

property thisown

The membership flag

x(t)

<T>::x

class sdurw_trajectory.sdurw_trajectory.LloydHaywardBlendVector2D_fCPtr(*args)

Bases: object

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

__init__(*args)

Overload 1:

Default constructor yielding a NULL-pointer.

Overload 2:

Do not take ownership of ptr.

ptr can be null.

The constructor is implicit on purpose.

ddx(t)

deref()

The pointer stored in the object.

dx(t)

getDeref()

Member access operator.

isNull()

checks if the pointer is null :rtype: boolean :return: Returns true if the pointer is null

isShared()

check if this Ptr has shared ownership or none ownership :rtype: boolean :return: true if Ptr has shared ownership, false if it has no ownership.

kappa()

Returns the kappa value used in the blend

tau1()

Notes: For ParabolicBlend getTau1()==getTau2()

tau2()

Notes: For ParabolicBlend getTau1()==getTau2()

property thisown

The membership flag

x(t)

<T>::x

class sdurw_trajectory.sdurw_trajectory.LloydHaywardBlendVector2D_fPtr(*args)

Bases: object

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

__init__(*args)

Overload 1:

Default constructor yielding a NULL-pointer.

Overload 2:

Do not take ownership of ptr.

ptr can be null.

The constructor is implicit on purpose.

cptr()

ddx(t)

deref()

The pointer stored in the object.

dx(t)

getDeref()

Member access operator.

isNull()

checks if the pointer is null :rtype: boolean :return: Returns true if the pointer is null

isShared()

check if this Ptr has shared ownership or none ownership :rtype: boolean :return: true if Ptr has shared ownership, false if it has no ownership.

kappa()

Returns the kappa value used in the blend

tau1()

Notes: For ParabolicBlend getTau1()==getTau2()

tau2()

Notes: For ParabolicBlend getTau1()==getTau2()

property thisown

The membership flag

x(t)

<T>::x

class sdurw_trajectory.sdurw_trajectory.LloydHaywardBlendVector3D(*args)

Bases: BlendVector3D

Implements LloydHayward blending

The LloydHayward blend [1], makes a smooth continous differentiable transition between two interpolators.

[1]: J. Lloyd, V. Hayward. Real-Time Trajectory Generation Using Blend Functions,

Proc. Int. Conf. on Robotics and Automation, 1991, pp. 784-798.

__init__(*args)

Constructs LloydHaywardBlend between interpolator1 and interpolator2.

The blend starts tau before the end of interpolator1 and finished tau after the start of interpolator2. The constant kappa specifies characteristics of the blend as described in [1].

Parameters

• interpolator1 (rw::trajectory::Interpolator< rw::math::Vector3D< double > >) – [in] First interpolator, no ownership transferred

• interpolator2 (rw::trajectory::Interpolator< rw::math::Vector3D< double > >) – [in] Second interpolator, no ownership transferred

• tau (float) – [in] Blend time

• kappa (float, optional) – [in] Blend characteristic (default 15/2 for acceleration minimal blend between linie segments)

ddx(t)

The acceleration for a given time t :type t: float :param t: [in] \(t\in[0,\tau_1+\tau_2]\) :rtype: rw::math::Vector3D< double > :return: Acceleration at time t

dx(t)

The velocity for a given time t :type t: float :param t: [in] \(t\in[0,\tau_1+\tau_2]\) :rtype: rw::math::Vector3D< double > :return: Velocity at time t

kappa()

Returns the kappa value used in the blend

tau1()

Notes: For ParabolicBlend getTau1()==getTau2()

tau2()

Notes: For ParabolicBlend getTau1()==getTau2()

property thisown

The membership flag

x(t)

<T>::x

class sdurw_trajectory.sdurw_trajectory.LloydHaywardBlendVector3DCPtr(*args)

Bases: object

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

__init__(*args)

Overload 1:

Default constructor yielding a NULL-pointer.

Overload 2:

Do not take ownership of ptr.

ptr can be null.

The constructor is implicit on purpose.

ddx(t)

deref()

The pointer stored in the object.

dx(t)

getDeref()

Member access operator.

isNull()

checks if the pointer is null :rtype: boolean :return: Returns true if the pointer is null

isShared()

check if this Ptr has shared ownership or none ownership :rtype: boolean :return: true if Ptr has shared ownership, false if it has no ownership.

kappa()

Returns the kappa value used in the blend

tau1()

Notes: For ParabolicBlend getTau1()==getTau2()

tau2()

Notes: For ParabolicBlend getTau1()==getTau2()

property thisown

The membership flag

x(t)

<T>::x

class sdurw_trajectory.sdurw_trajectory.LloydHaywardBlendVector3DPtr(*args)

Bases: object

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

__init__(*args)

Overload 1:

Default constructor yielding a NULL-pointer.

Overload 2:

Do not take ownership of ptr.

ptr can be null.

The constructor is implicit on purpose.

cptr()

ddx(t)

deref()

The pointer stored in the object.

dx(t)

getDeref()

Member access operator.

isNull()

checks if the pointer is null :rtype: boolean :return: Returns true if the pointer is null

isShared()

check if this Ptr has shared ownership or none ownership :rtype: boolean :return: true if Ptr has shared ownership, false if it has no ownership.

kappa()

Returns the kappa value used in the blend

tau1()

Notes: For ParabolicBlend getTau1()==getTau2()

tau2()

Notes: For ParabolicBlend getTau1()==getTau2()

property thisown

The membership flag

x(t)

<T>::x

class sdurw_trajectory.sdurw_trajectory.LloydHaywardBlendVector3D_f(*args)

Bases: BlendVector3D_f

Implements LloydHayward blending

The LloydHayward blend [1], makes a smooth continous differentiable transition between two interpolators.

[1]: J. Lloyd, V. Hayward. Real-Time Trajectory Generation Using Blend Functions,

Proc. Int. Conf. on Robotics and Automation, 1991, pp. 784-798.

__init__(*args)

Constructs LloydHaywardBlend between interpolator1 and interpolator2.

The blend starts tau before the end of interpolator1 and finished tau after the start of interpolator2. The constant kappa specifies characteristics of the blend as described in [1].

Parameters

• interpolator1 (rw::trajectory::Interpolator< rw::math::Vector3D< float > >) – [in] First interpolator, no ownership transferred

• interpolator2 (rw::trajectory::Interpolator< rw::math::Vector3D< float > >) – [in] Second interpolator, no ownership transferred

• tau (float) – [in] Blend time

• kappa (float, optional) – [in] Blend characteristic (default 15/2 for acceleration minimal blend between linie segments)

ddx(t)

The acceleration for a given time t :type t: float :param t: [in] \(t\in[0,\tau_1+\tau_2]\) :rtype: rw::math::Vector3D< float > :return: Acceleration at time t

dx(t)

The velocity for a given time t :type t: float :param t: [in] \(t\in[0,\tau_1+\tau_2]\) :rtype: rw::math::Vector3D< float > :return: Velocity at time t

kappa()

Returns the kappa value used in the blend

tau1()

Notes: For ParabolicBlend getTau1()==getTau2()

tau2()

Notes: For ParabolicBlend getTau1()==getTau2()

property thisown

The membership flag

x(t)

<T>::x

class sdurw_trajectory.sdurw_trajectory.LloydHaywardBlendVector3D_fCPtr(*args)

Bases: object

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

__init__(*args)

Overload 1:

Default constructor yielding a NULL-pointer.

Overload 2:

Do not take ownership of ptr.

ptr can be null.

The constructor is implicit on purpose.

ddx(t)

deref()

The pointer stored in the object.

dx(t)

getDeref()

Member access operator.

isNull()

checks if the pointer is null :rtype: boolean :return: Returns true if the pointer is null

isShared()

check if this Ptr has shared ownership or none ownership :rtype: boolean :return: true if Ptr has shared ownership, false if it has no ownership.

kappa()

Returns the kappa value used in the blend

tau1()

Notes: For ParabolicBlend getTau1()==getTau2()

tau2()

Notes: For ParabolicBlend getTau1()==getTau2()

property thisown

The membership flag

x(t)

<T>::x

class sdurw_trajectory.sdurw_trajectory.LloydHaywardBlendVector3D_fPtr(*args)

Bases: object

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

__init__(*args)

Overload 1:

Default constructor yielding a NULL-pointer.

Overload 2:

Do not take ownership of ptr.

ptr can be null.

The constructor is implicit on purpose.

cptr()

ddx(t)

deref()

The pointer stored in the object.

dx(t)

getDeref()

Member access operator.

isNull()

checks if the pointer is null :rtype: boolean :return: Returns true if the pointer is null

isShared()

check if this Ptr has shared ownership or none ownership :rtype: boolean :return: true if Ptr has shared ownership, false if it has no ownership.

kappa()

Returns the kappa value used in the blend

tau1()

Notes: For ParabolicBlend getTau1()==getTau2()

tau2()

Notes: For ParabolicBlend getTau1()==getTau2()

property thisown

The membership flag

x(t)

<T>::x

class sdurw_trajectory.sdurw_trajectory.LloydHaywardBlend_d(*args)

Bases: Blend_d

Implements LloydHayward blending

The LloydHayward blend [1], makes a smooth continous differentiable transition between two interpolators.

[1]: J. Lloyd, V. Hayward. Real-Time Trajectory Generation Using Blend Functions,

Proc. Int. Conf. on Robotics and Automation, 1991, pp. 784-798.

__init__(*args)

Constructs LloydHaywardBlend between interpolator1 and interpolator2.

The blend starts tau before the end of interpolator1 and finished tau after the start of interpolator2. The constant kappa specifies characteristics of the blend as described in [1].

Parameters

• interpolator1 (rw::trajectory::Interpolator< double >) – [in] First interpolator, no ownership transferred

• interpolator2 (rw::trajectory::Interpolator< double >) – [in] Second interpolator, no ownership transferred

• tau (float) – [in] Blend time

• kappa (float, optional) – [in] Blend characteristic (default 15/2 for acceleration minimal blend between linie segments)

ddx(t)

The acceleration for a given time t :type t: float :param t: [in] \(t\in[0,\tau_1+\tau_2]\) :rtype: float :return: Acceleration at time t

dx(t)

The velocity for a given time t :type t: float :param t: [in] \(t\in[0,\tau_1+\tau_2]\) :rtype: float :return: Velocity at time t

kappa()

Returns the kappa value used in the blend

tau1()

Notes: For ParabolicBlend getTau1()==getTau2()

tau2()

Notes: For ParabolicBlend getTau1()==getTau2()

property thisown

The membership flag

x(t)

<T>::x

class sdurw_trajectory.sdurw_trajectory.LloydHaywardBlend_dCPtr(*args)

Bases: object

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

__init__(*args)

Overload 1:

Default constructor yielding a NULL-pointer.

Overload 2:

Do not take ownership of ptr.

ptr can be null.

The constructor is implicit on purpose.

ddx(t)

deref()

The pointer stored in the object.

dx(t)

getDeref()

Member access operator.

isNull()

checks if the pointer is null :rtype: boolean :return: Returns true if the pointer is null

isShared()

check if this Ptr has shared ownership or none ownership :rtype: boolean :return: true if Ptr has shared ownership, false if it has no ownership.

kappa()

Returns the kappa value used in the blend

tau1()

Notes: For ParabolicBlend getTau1()==getTau2()

tau2()

Notes: For ParabolicBlend getTau1()==getTau2()

property thisown

The membership flag

x(t)

<T>::x

class sdurw_trajectory.sdurw_trajectory.LloydHaywardBlend_dPtr(*args)

Bases: object

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

__init__(*args)

Overload 1:

Default constructor yielding a NULL-pointer.

Overload 2:

Do not take ownership of ptr.

ptr can be null.

The constructor is implicit on purpose.

cptr()

ddx(t)

deref()

The pointer stored in the object.

dx(t)

getDeref()

Member access operator.

isNull()

checks if the pointer is null :rtype: boolean :return: Returns true if the pointer is null

isShared()

check if this Ptr has shared ownership or none ownership :rtype: boolean :return: true if Ptr has shared ownership, false if it has no ownership.

kappa()

Returns the kappa value used in the blend

tau1()

Notes: For ParabolicBlend getTau1()==getTau2()

tau2()

Notes: For ParabolicBlend getTau1()==getTau2()

property thisown

The membership flag

x(t)

<T>::x

class sdurw_trajectory.sdurw_trajectory.LloydHaywardBlend_d_f(*args)

Bases: Blend_d_f

Implements LloydHayward blending

The LloydHayward blend [1], makes a smooth continous differentiable transition between two interpolators.

[1]: J. Lloyd, V. Hayward. Real-Time Trajectory Generation Using Blend Functions,

Proc. Int. Conf. on Robotics and Automation, 1991, pp. 784-798.

__init__(*args)

Constructs LloydHaywardBlend between interpolator1 and interpolator2.

The blend starts tau before the end of interpolator1 and finished tau after the start of interpolator2. The constant kappa specifies characteristics of the blend as described in [1].

Parameters

• interpolator1 (rw::trajectory::Interpolator< float >) – [in] First interpolator, no ownership transferred

• interpolator2 (rw::trajectory::Interpolator< float >) – [in] Second interpolator, no ownership transferred

• tau (float) – [in] Blend time

• kappa (float, optional) – [in] Blend characteristic (default 15/2 for acceleration minimal blend between linie segments)

ddx(t)

The acceleration for a given time t :type t: float :param t: [in] \(t\in[0,\tau_1+\tau_2]\) :rtype: float :return: Acceleration at time t

dx(t)

The velocity for a given time t :type t: float :param t: [in] \(t\in[0,\tau_1+\tau_2]\) :rtype: float :return: Velocity at time t

kappa()

Returns the kappa value used in the blend

tau1()

Notes: For ParabolicBlend getTau1()==getTau2()

tau2()

Notes: For ParabolicBlend getTau1()==getTau2()

property thisown

The membership flag

x(t)

<T>::x

class sdurw_trajectory.sdurw_trajectory.LloydHaywardBlend_d_fCPtr(*args)

Bases: object

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

__init__(*args)

Overload 1:

Default constructor yielding a NULL-pointer.

Overload 2:

Do not take ownership of ptr.

ptr can be null.

The constructor is implicit on purpose.

ddx(t)

deref()

The pointer stored in the object.

dx(t)

getDeref()

Member access operator.

isNull()

checks if the pointer is null :rtype: boolean :return: Returns true if the pointer is null

isShared()

check if this Ptr has shared ownership or none ownership :rtype: boolean :return: true if Ptr has shared ownership, false if it has no ownership.

kappa()

Returns the kappa value used in the blend

tau1()

Notes: For ParabolicBlend getTau1()==getTau2()

tau2()

Notes: For ParabolicBlend getTau1()==getTau2()

property thisown

The membership flag

x(t)

<T>::x

class sdurw_trajectory.sdurw_trajectory.LloydHaywardBlend_d_fPtr(*args)

Bases: object

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

__init__(*args)

Overload 1:

Default constructor yielding a NULL-pointer.

Overload 2:

Do not take ownership of ptr.

ptr can be null.

The constructor is implicit on purpose.

cptr()

ddx(t)

deref()

The pointer stored in the object.

dx(t)

getDeref()

Member access operator.

isNull()

checks if the pointer is null :rtype: boolean :return: Returns true if the pointer is null

isShared()

check if this Ptr has shared ownership or none ownership :rtype: boolean :return: true if Ptr has shared ownership, false if it has no ownership.

kappa()

Returns the kappa value used in the blend

tau1()

Notes: For ParabolicBlend getTau1()==getTau2()

tau2()

Notes: For ParabolicBlend getTau1()==getTau2()

property thisown

The membership flag

x(t)

<T>::x

class sdurw_trajectory.sdurw_trajectory.ParabolicBlendQ(*args)

Bases: BlendQ

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.

__init__(*args)

Overload 1:

Constructs parabolic blend between line1 and line2 with tau as blend time :type line1: rw::trajectory::LinearInterpolator< rw::math::Q > :param line1: [in] First segment :type line2: rw::trajectory::LinearInterpolator< rw::math::Q > :param line2: [in] Second segment :type tau: float :param tau: [in] Blend time

Overload 2:

Constructs parabolic blend between line1 and line2 with tau as blend time. The segments is copied for internal storage :type line1: rw::trajectory::LinearInterpolator< rw::math::Q >::CPtr :param line1: [in] First segment :type line2: rw::trajectory::LinearInterpolator< rw::math::Q >::CPtr :param line2: [in] Second segment :type tau: float :param tau: [in] Blend time

Overload 3:

Constructs parabolic blend between line1 and line2 with tau as blend time. The segments is copied for internal storage :type line1: rw::trajectory::LinearInterpolator< rw::math::Q >::Ptr :param line1: [in] First segment :type line2: rw::trajectory::LinearInterpolator< rw::math::Q >::Ptr :param line2: [in] Second segment :type tau: float :param tau: [in] Blend time

ddx(t)

Conditional comment:

End of conditional comment.

duration()

get the duration of the blend :rtype: float :return: duration

dx(t)

Conditional comment:

End of conditional comment.

tau1()

Conditional comment:

End of conditional comment.

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

tau2()

Conditional comment:

End of conditional comment.

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

property thisown

The membership flag

x(t)

Conditional comment:

End of conditional comment.

class sdurw_trajectory.sdurw_trajectory.ParabolicBlendQCPtr(*args)

Bases: object

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

__init__(*args)

Overload 1:

Default constructor yielding a NULL-pointer.

Overload 2:

Do not take ownership of ptr.

ptr can be null.

The constructor is implicit on purpose.

ddx(t)

Conditional comment:

End of conditional comment.

deref()

The pointer stored in the object.

duration()

get the duration of the blend :rtype: float :return: duration

dx(t)

Conditional comment:

End of conditional comment.

getDeref()

Member access operator.

isNull()

checks if the pointer is null :rtype: boolean :return: Returns true if the pointer is null

isShared()

check if this Ptr has shared ownership or none ownership :rtype: boolean :return: true if Ptr has shared ownership, false if it has no ownership.

tau1()

Conditional comment:

End of conditional comment.

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

tau2()

Conditional comment:

End of conditional comment.

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

property thisown

The membership flag

x(t)

Conditional comment:

End of conditional comment.

class sdurw_trajectory.sdurw_trajectory.ParabolicBlendQPtr(*args)

Bases: object

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

__init__(*args)

Overload 1:

Default constructor yielding a NULL-pointer.

Overload 2:

Do not take ownership of ptr.

ptr can be null.

The constructor is implicit on purpose.

cptr()

ddx(t)

Conditional comment:

End of conditional comment.

deref()

The pointer stored in the object.

duration()

get the duration of the blend :rtype: float :return: duration

dx(t)

Conditional comment:

End of conditional comment.

getDeref()

Member access operator.

isNull()

checks if the pointer is null :rtype: boolean :return: Returns true if the pointer is null

isShared()

check if this Ptr has shared ownership or none ownership :rtype: boolean :return: true if Ptr has shared ownership, false if it has no ownership.

tau1()

Conditional comment:

End of conditional comment.

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

tau2()

Conditional comment:

End of conditional comment.

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

property thisown

The membership flag

x(t)

Conditional comment:

End of conditional comment.

sdurw_trajectory.sdurw_trajectory.ParabolicBlendR1

alias of ParabolicBlend_d

sdurw_trajectory.sdurw_trajectory.ParabolicBlendR2

alias of ParabolicBlendVector2D

sdurw_trajectory.sdurw_trajectory.ParabolicBlendR3

alias of ParabolicBlendVector3D

class sdurw_trajectory.sdurw_trajectory.ParabolicBlendRotation3D(*args)

Bases: BlendRotation3D

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.

__init__(*args)

Overload 1:

Constructs parabolic blend between line1 and line2 with tau as blend time :type line1: rw::trajectory::LinearInterpolator< rw::math::Rotation3D< double > > :param line1: [in] First segment :type line2: rw::trajectory::LinearInterpolator< rw::math::Rotation3D< double > > :param line2: [in] Second segment :type tau: float :param tau: [in] Blend time

Overload 2:

Constructs parabolic blend between line1 and line2 with tau as blend time. The segments is copied for internal storage :type line1: rw::trajectory::LinearInterpolator< rw::math::Rotation3D< double > >::CPtr :param line1: [in] First segment :type line2: rw::trajectory::LinearInterpolator< rw::math::Rotation3D< double > >::CPtr :param line2: [in] Second segment :type tau: float :param tau: [in] Blend time

Overload 3:

Constructs parabolic blend between line1 and line2 with tau as blend time. The segments is copied for internal storage :type line1: rw::trajectory::LinearInterpolator< rw::math::Rotation3D< double > >::Ptr :param line1: [in] First segment :type line2: rw::trajectory::LinearInterpolator< rw::math::Rotation3D< double > >::Ptr :param line2: [in] Second segment :type tau: float :param tau: [in] Blend time

ddx(t)

Conditional comment:

End of conditional comment.

duration()

get the duration of the blend :rtype: float :return: duration

dx(t)

Conditional comment:

End of conditional comment.

tau1()

Conditional comment:

End of conditional comment.

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

tau2()

Conditional comment:

End of conditional comment.

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

property thisown

The membership flag

x(t)

Conditional comment:

End of conditional comment.

class sdurw_trajectory.sdurw_trajectory.ParabolicBlendRotation3DCPtr(*args)

Bases: object

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

__init__(*args)

Overload 1:

Default constructor yielding a NULL-pointer.

Overload 2:

Do not take ownership of ptr.

ptr can be null.

The constructor is implicit on purpose.

ddx(t)

Conditional comment:

End of conditional comment.

deref()

The pointer stored in the object.

duration()

get the duration of the blend :rtype: float :return: duration

dx(t)

Conditional comment:

End of conditional comment.

getDeref()

Member access operator.

isNull()

checks if the pointer is null :rtype: boolean :return: Returns true if the pointer is null

isShared()

check if this Ptr has shared ownership or none ownership :rtype: boolean :return: true if Ptr has shared ownership, false if it has no ownership.

tau1()

Conditional comment:

End of conditional comment.

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

tau2()

Conditional comment:

End of conditional comment.

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

property thisown

The membership flag

x(t)

Conditional comment:

End of conditional comment.

class sdurw_trajectory.sdurw_trajectory.ParabolicBlendRotation3DPtr(*args)

Bases: object

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

__init__(*args)

Overload 1:

Default constructor yielding a NULL-pointer.

Overload 2:

Do not take ownership of ptr.

ptr can be null.

The constructor is implicit on purpose.

cptr()

ddx(t)

Conditional comment:

End of conditional comment.

deref()

The pointer stored in the object.

duration()

get the duration of the blend :rtype: float :return: duration

dx(t)

Conditional comment:

End of conditional comment.

getDeref()

Member access operator.

isNull()

checks if the pointer is null :rtype: boolean :return: Returns true if the pointer is null

isShared()

check if this Ptr has shared ownership or none ownership :rtype: boolean :return: true if Ptr has shared ownership, false if it has no ownership.

tau1()

Conditional comment:

End of conditional comment.

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

tau2()

Conditional comment:

End of conditional comment.

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

property thisown

The membership flag

x(t)

Conditional comment:

End of conditional comment.

class sdurw_trajectory.sdurw_trajectory.ParabolicBlendRotation3D_f(*args)

Bases: BlendRotation3D_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.

__init__(*args)

Overload 1:

Constructs parabolic blend between line1 and line2 with tau as blend time :type line1: rw::trajectory::LinearInterpolator< rw::math::Rotation3D< float > > :param line1: [in] First segment :type line2: rw::trajectory::LinearInterpolator< rw::math::Rotation3D< float > > :param line2: [in] Second segment :type tau: float :param tau: [in] Blend time

Overload 2:

Constructs parabolic blend between line1 and line2 with tau as blend time. The segments is copied for internal storage :type line1: rw::trajectory::LinearInterpolator< rw::math::Rotation3D< float > >::CPtr :param line1: [in] First segment :type line2: rw::trajectory::LinearInterpolator< rw::math::Rotation3D< float > >::CPtr :param line2: [in] Second segment :type tau: float :param tau: [in] Blend time

Overload 3:

Constructs parabolic blend between line1 and line2 with tau as blend time. The segments is copied for internal storage :type line1: rw::trajectory::LinearInterpolator< rw::math::Rotation3D< float > >::Ptr :param line1: [in] First segment :type line2: rw::trajectory::LinearInterpolator< rw::math::Rotation3D< float > >::Ptr :param line2: [in] Second segment :type tau: float :param tau: [in] Blend time

ddx(t)

Conditional comment:

End of conditional comment.

duration()

get the duration of the blend :rtype: float :return: duration

dx(t)

Conditional comment:

End of conditional comment.

tau1()

Conditional comment:

End of conditional comment.

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

tau2()

Conditional comment:

End of conditional comment.

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

property thisown

The membership flag

x(t)

Conditional comment:

End of conditional comment.

class sdurw_trajectory.sdurw_trajectory.ParabolicBlendRotation3D_fCPtr(*args)

Bases: object

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

__init__(*args)

Overload 1:

Default constructor yielding a NULL-pointer.

Overload 2:

Do not take ownership of ptr.

ptr can be null.

The constructor is implicit on purpose.

ddx(t)

Conditional comment:

End of conditional comment.

deref()

The pointer stored in the object.

duration()

get the duration of the blend :rtype: float :return: duration

dx(t)

Conditional comment:

End of conditional comment.

getDeref()

Member access operator.

isNull()

checks if the pointer is null :rtype: boolean :return: Returns true if the pointer is null

isShared()

check if this Ptr has shared ownership or none ownership :rtype: boolean :return: true if Ptr has shared ownership, false if it has no ownership.

tau1()

Conditional comment:

End of conditional comment.

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

tau2()

Conditional comment:

End of conditional comment.

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

property thisown

The membership flag

x(t)

Conditional comment:

End of conditional comment.

class sdurw_trajectory.sdurw_trajectory.ParabolicBlendRotation3D_fPtr(*args)

Bases: object

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

__init__(*args)

Overload 1:

Default constructor yielding a NULL-pointer.

Overload 2:

Do not take ownership of ptr.

ptr can be null.

The constructor is implicit on purpose.

cptr()

ddx(t)

Conditional comment:

End of conditional comment.

deref()

The pointer stored in the object.

duration()

get the duration of the blend :rtype: float :return: duration

dx(t)

Conditional comment:

End of conditional comment.

getDeref()

Member access operator.

isNull()

checks if the pointer is null :rtype: boolean :return: Returns true if the pointer is null

isShared()

check if this Ptr has shared ownership or none ownership :rtype: boolean :return: true if Ptr has shared ownership, false if it has no ownership.

tau1()

Conditional comment:

End of conditional comment.

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

tau2()

Conditional comment:

End of conditional comment.

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

property thisown

The membership flag

x(t)

Conditional comment:

End of conditional comment.

sdurw_trajectory.sdurw_trajectory.ParabolicBlendSE3

alias of ParabolicBlendTransform3D

sdurw_trajectory.sdurw_trajectory.ParabolicBlendSO3

alias of ParabolicBlendRotation3D

class sdurw_trajectory.sdurw_trajectory.ParabolicBlendTransform3D(*args)

Bases: BlendTransform3D

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.

__init__(*args)

Overload 1:

Constructs parabolic blend between line1 and line2 with tau as blend time :type line1: rw::trajectory::LinearInterpolator< rw::math::Transform3D< double > > :param line1: [in] First segment :type line2: rw::trajectory::LinearInterpolator< rw::math::Transform3D< double > > :param line2: [in] Second segment :type tau: float :param tau: [in] Blend time

Overload 2:

Constructs parabolic blend between line1 and line2 with tau as blend time. The segments is copied for internal storage :type line1: rw::trajectory::LinearInterpolator< rw::math::Transform3D< double > >::CPtr :param line1: [in] First segment :type line2: rw::trajectory::LinearInterpolator< rw::math::Transform3D< double > >::CPtr :param line2: [in] Second segment :type tau: float :param tau: [in] Blend time

Overload 3:

Constructs parabolic blend between line1 and line2 with tau as blend time. The segments is copied for internal storage :type line1: rw::trajectory::LinearInterpolator< rw::math::Transform3D< double > >::Ptr :param line1: [in] First segment :type line2: rw::trajectory::LinearInterpolator< rw::math::Transform3D< double > >::Ptr :param line2: [in] Second segment :type tau: float :param tau: [in] Blend time

ddx(t)

Conditional comment:

End of conditional comment.

duration()

get the duration of the blend :rtype: float :return: duration

dx(t)

Conditional comment:

End of conditional comment.

tau1()

Conditional comment:

End of conditional comment.

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

tau2()

Conditional comment:

End of conditional comment.

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

property thisown

The membership flag

x(t)

Conditional comment:

End of conditional comment.

class sdurw_trajectory.sdurw_trajectory.ParabolicBlendTransform3DCPtr(*args)

Bases: object

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

__init__(*args)

Overload 1:

Default constructor yielding a NULL-pointer.

Overload 2:

Do not take ownership of ptr.

ptr can be null.

The constructor is implicit on purpose.

ddx(t)

Conditional comment:

End of conditional comment.

deref()

The pointer stored in the object.

duration()

get the duration of the blend :rtype: float :return: duration

dx(t)

Conditional comment:

End of conditional comment.

getDeref()

Member access operator.

isNull()

checks if the pointer is null :rtype: boolean :return: Returns true if the pointer is null

isShared()

check if this Ptr has shared ownership or none ownership :rtype: boolean :return: true if Ptr has shared ownership, false if it has no ownership.

tau1()

Conditional comment:

End of conditional comment.

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

tau2()

Conditional comment:

End of conditional comment.

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

property thisown

The membership flag

x(t)

Conditional comment:

End of conditional comment.

class sdurw_trajectory.sdurw_trajectory.ParabolicBlendTransform3DPtr(*args)

Bases: object

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

__init__(*args)

Overload 1:

Default constructor yielding a NULL-pointer.

Overload 2:

Do not take ownership of ptr.

ptr can be null.

The constructor is implicit on purpose.

cptr()

ddx(t)

Conditional comment:

End of conditional comment.

deref()

The pointer stored in the object.

duration()

get the duration of the blend :rtype: float :return: duration

dx(t)

Conditional comment:

End of conditional comment.

getDeref()

Member access operator.

isNull()

checks if the pointer is null :rtype: boolean :return: Returns true if the pointer is null

isShared()

check if this Ptr has shared ownership or none ownership :rtype: boolean :return: true if Ptr has shared ownership, false if it has no ownership.

tau1()

Conditional comment:

End of conditional comment.

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

tau2()

Conditional comment:

End of conditional comment.

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

property thisown

The membership flag

x(t)

Conditional comment:

End of conditional comment.

class sdurw_trajectory.sdurw_trajectory.ParabolicBlendTransform3D_f(*args)

Bases: BlendTransform3D_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.

__init__(*args)

Overload 1:

Constructs parabolic blend between line1 and line2 with tau as blend time :type line1: rw::trajectory::LinearInterpolator< rw::math::Transform3D< float > > :param line1: [in] First segment :type line2: rw::trajectory::LinearInterpolator< rw::math::Transform3D< float > > :param line2: [in] Second segment :type tau: float :param tau: [in] Blend time

Overload 2:

Constructs parabolic blend between line1 and line2 with tau as blend time. The segments is copied for internal storage :type line1: rw::trajectory::LinearInterpolator< rw::math::Transform3D< float > >::CPtr :param line1: [in] First segment :type line2: rw::trajectory::LinearInterpolator< rw::math::Transform3D< float > >::CPtr :param line2: [in] Second segment :type tau: float :param tau: [in] Blend time

Overload 3:

Constructs parabolic blend between line1 and line2 with tau as blend time. The segments is copied for internal storage :type line1: rw::trajectory::LinearInterpolator< rw::math::Transform3D< float > >::Ptr :param line1: [in] First segment :type line2: rw::trajectory::LinearInterpolator< rw::math::Transform3D< float > >::Ptr :param line2: [in] Second segment :type tau: float :param tau: [in] Blend time

ddx(t)

Conditional comment:

End of conditional comment.

duration()

get the duration of the blend :rtype: float :return: duration

dx(t)

Conditional comment:

End of conditional comment.

tau1()

Conditional comment:

End of conditional comment.

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

tau2()

Conditional comment:

End of conditional comment.

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

property thisown

The membership flag

x(t)

Conditional comment:

End of conditional comment.

class sdurw_trajectory.sdurw_trajectory.ParabolicBlendTransform3D_fCPtr(*args)

Bases: object

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

__init__(*args)

Overload 1:

Default constructor yielding a NULL-pointer.

Overload 2:

Do not take ownership of ptr.

ptr can be null.

The constructor is implicit on purpose.

ddx(t)

Conditional comment:

End of conditional comment.

deref()

The pointer stored in the object.

duration()

get the duration of the blend :rtype: float :return: duration

dx(t)

Conditional comment:

End of conditional comment.

getDeref()

Member access operator.

isNull()

checks if the pointer is null :rtype: boolean :return: Returns true if the pointer is null

isShared()

check if this Ptr has shared ownership or none ownership :rtype: boolean :return: true if Ptr has shared ownership, false if it has no ownership.

tau1()

Conditional comment:

End of conditional comment.

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

tau2()

Conditional comment:

End of conditional comment.

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

property thisown

The membership flag

x(t)

Conditional comment:

End of conditional comment.

class sdurw_trajectory.sdurw_trajectory.ParabolicBlendTransform3D_fPtr(*args)

Bases: object

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

__init__(*args)

Overload 1:

Default constructor yielding a NULL-pointer.

Overload 2:

Do not take ownership of ptr.

ptr can be null.

The constructor is implicit on purpose.

cptr()

ddx(t)

Conditional comment:

End of conditional comment.

deref()

The pointer stored in the object.

duration()

get the duration of the blend :rtype: float :return: duration

dx(t)

Conditional comment:

End of conditional comment.

getDeref()

Member access operator.

isNull()

checks if the pointer is null :rtype: boolean :return: Returns true if the pointer is null

isShared()

check if this Ptr has shared ownership or none ownership :rtype: boolean :return: true if Ptr has shared ownership, false if it has no ownership.

tau1()

Conditional comment:

End of conditional comment.

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

tau2()

Conditional comment:

End of conditional comment.

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

property thisown

The membership flag

x(t)

Conditional comment:

End of conditional comment.

class sdurw_trajectory.sdurw_trajectory.ParabolicBlendVector2D(*args)

Bases: BlendVector2D

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.

__init__(*args)

Overload 1:

Constructs parabolic blend between line1 and line2 with tau as blend time :type line1: rw::trajectory::LinearInterpolator< rw::math::Vector2D< double > > :param line1: [in] First segment :type line2: rw::trajectory::LinearInterpolator< rw::math::Vector2D< double > > :param line2: [in] Second segment :type tau: float :param tau: [in] Blend time

Overload 2:

Constructs parabolic blend between line1 and line2 with tau as blend time. The segments is copied for internal storage :type line1: rw::trajectory::LinearInterpolator< rw::math::Vector2D< double > >::CPtr :param line1: [in] First segment :type line2: rw::trajectory::LinearInterpolator< rw::math::Vector2D< double > >::CPtr :param line2: [in] Second segment :type tau: float :param tau: [in] Blend time

Overload 3:

Constructs parabolic blend between line1 and line2 with tau as blend time. The segments is copied for internal storage :type line1: rw::trajectory::LinearInterpolator< rw::math::Vector2D< double > >::Ptr :param line1: [in] First segment :type line2: rw::trajectory::LinearInterpolator< rw::math::Vector2D< double > >::Ptr :param line2: [in] Second segment :type tau: float :param tau: [in] Blend time

ddx(t)

Conditional comment:

End of conditional comment.

duration()

get the duration of the blend :rtype: float :return: duration

dx(t)

Conditional comment:

End of conditional comment.

tau1()

Conditional comment:

End of conditional comment.

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

tau2()

Conditional comment:

End of conditional comment.

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

property thisown

The membership flag

x(t)

Conditional comment:

End of conditional comment.

class sdurw_trajectory.sdurw_trajectory.ParabolicBlendVector2DCPtr(*args)

Bases: object

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

__init__(*args)

Overload 1:

Default constructor yielding a NULL-pointer.

Overload 2:

Do not take ownership of ptr.

ptr can be null.

The constructor is implicit on purpose.

ddx(t)

Conditional comment:

End of conditional comment.

deref()

The pointer stored in the object.

duration()

get the duration of the blend :rtype: float :return: duration

dx(t)

Conditional comment:

End of conditional comment.

getDeref()

Member access operator.

isNull()

checks if the pointer is null :rtype: boolean :return: Returns true if the pointer is null

isShared()

check if this Ptr has shared ownership or none ownership :rtype: boolean :return: true if Ptr has shared ownership, false if it has no ownership.

tau1()

Conditional comment:

End of conditional comment.

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

tau2()

Conditional comment:

End of conditional comment.

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

property thisown

The membership flag

x(t)

Conditional comment:

End of conditional comment.

class sdurw_trajectory.sdurw_trajectory.ParabolicBlendVector2DPtr(*args)

Bases: object

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

__init__(*args)

Overload 1:

Default constructor yielding a NULL-pointer.

Overload 2:

Do not take ownership of ptr.

ptr can be null.

The constructor is implicit on purpose.

cptr()

ddx(t)

Conditional comment:

End of conditional comment.

deref()

The pointer stored in the object.

duration()

get the duration of the blend :rtype: float :return: duration

dx(t)

Conditional comment:

End of conditional comment.

getDeref()

Member access operator.

isNull()

checks if the pointer is null :rtype: boolean :return: Returns true if the pointer is null

isShared()

check if this Ptr has shared ownership or none ownership :rtype: boolean :return: true if Ptr has shared ownership, false if it has no ownership.

tau1()

Conditional comment:

End of conditional comment.

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

tau2()

Conditional comment:

End of conditional comment.

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

property thisown

The membership flag

x(t)

Conditional comment:

End of conditional comment.

class sdurw_trajectory.sdurw_trajectory.ParabolicBlendVector2D_f(*args)

Bases: 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.

__init__(*args)

Overload 1:

Constructs parabolic blend between line1 and line2 with tau as blend time :type line1: rw::trajectory::LinearInterpolator< rw::math::Vector2D< float > > :param line1: [in] First segment :type line2: rw::trajectory::LinearInterpolator< rw::math::Vector2D< float > > :param line2: [in] Second segment :type tau: float :param tau: [in] Blend time

Overload 2:

Constructs parabolic blend between line1 and line2 with tau as blend time. The segments is copied for internal storage :type line1: rw::trajectory::LinearInterpolator< rw::math::Vector2D< float > >::CPtr :param line1: [in] First segment :type line2: rw::trajectory::LinearInterpolator< rw::math::Vector2D< float > >::CPtr :param line2: [in] Second segment :type tau: float :param tau: [in] Blend time

Overload 3:

Constructs parabolic blend between line1 and line2 with tau as blend time. The segments is copied for internal storage :type line1: rw::trajectory::LinearInterpolator< rw::math::Vector2D< float > >::Ptr :param line1: [in] First segment :type line2: rw::trajectory::LinearInterpolator< rw::math::Vector2D< float > >::Ptr :param line2: [in] Second segment :type tau: float :param tau: [in] Blend time

ddx(t)

Conditional comment:

End of conditional comment.

duration()

get the duration of the blend :rtype: float :return: duration

dx(t)

Conditional comment:

End of conditional comment.

tau1()

Conditional comment:

End of conditional comment.

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

tau2()

Conditional comment:

End of conditional comment.

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

property thisown

The membership flag

x(t)

Conditional comment:

End of conditional comment.

class sdurw_trajectory.sdurw_trajectory.ParabolicBlendVector2D_fCPtr(*args)

Bases: object

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

__init__(*args)

Overload 1:

Default constructor yielding a NULL-pointer.

Overload 2:

Do not take ownership of ptr.

ptr can be null.

The constructor is implicit on purpose.

ddx(t)

Conditional comment:

End of conditional comment.

deref()

The pointer stored in the object.

duration()

get the duration of the blend :rtype: float :return: duration

dx(t)

Conditional comment:

End of conditional comment.

getDeref()

Member access operator.

isNull()

checks if the pointer is null :rtype: boolean :return: Returns true if the pointer is null

isShared()

check if this Ptr has shared ownership or none ownership :rtype: boolean :return: true if Ptr has shared ownership, false if it has no ownership.

tau1()

Conditional comment:

End of conditional comment.

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

tau2()

Conditional comment:

End of conditional comment.

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

property thisown

The membership flag

x(t)

Conditional comment:

End of conditional comment.

class sdurw_trajectory.sdurw_trajectory.ParabolicBlendVector2D_fPtr(*args)

Bases: object

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

__init__(*args)

Overload 1:

Default constructor yielding a NULL-pointer.

Overload 2:

Do not take ownership of ptr.

ptr can be null.

The constructor is implicit on purpose.

cptr()

ddx(t)

Conditional comment:

End of conditional comment.

deref()

The pointer stored in the object.

duration()

get the duration of the blend :rtype: float :return: duration

dx(t)

Conditional comment:

End of conditional comment.

getDeref()

Member access operator.

isNull()

checks if the pointer is null :rtype: boolean :return: Returns true if the pointer is null

isShared()

check if this Ptr has shared ownership or none ownership :rtype: boolean :return: true if Ptr has shared ownership, false if it has no ownership.

tau1()

Conditional comment:

End of conditional comment.

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

tau2()

Conditional comment:

End of conditional comment.

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

property thisown

The membership flag

x(t)

Conditional comment:

End of conditional comment.

class sdurw_trajectory.sdurw_trajectory.ParabolicBlendVector3D(*args)

Bases: BlendVector3D

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.

__init__(*args)

Overload 1:

Constructs parabolic blend between line1 and line2 with tau as blend time :type line1: rw::trajectory::LinearInterpolator< rw::math::Vector3D< double > > :param line1: [in] First segment :type line2: rw::trajectory::LinearInterpolator< rw::math::Vector3D< double > > :param line2: [in] Second segment :type tau: float :param tau: [in] Blend time

Overload 2:

Constructs parabolic blend between line1 and line2 with tau as blend time. The segments is copied for internal storage :type line1: rw::trajectory::LinearInterpolator< rw::math::Vector3D< double > >::CPtr :param line1: [in] First segment :type line2: rw::trajectory::LinearInterpolator< rw::math::Vector3D< double > >::CPtr :param line2: [in] Second segment :type tau: float :param tau: [in] Blend time

Overload 3:

Constructs parabolic blend between line1 and line2 with tau as blend time. The segments is copied for internal storage :type line1: rw::trajectory::LinearInterpolator< rw::math::Vector3D< double > >::Ptr :param line1: [in] First segment :type line2: rw::trajectory::LinearInterpolator< rw::math::Vector3D< double > >::Ptr :param line2: [in] Second segment :type tau: float :param tau: [in] Blend time

ddx(t)

Conditional comment:

End of conditional comment.

duration()

get the duration of the blend :rtype: float :return: duration

dx(t)

Conditional comment:

End of conditional comment.

tau1()

Conditional comment:

End of conditional comment.

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

tau2()

Conditional comment:

End of conditional comment.

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

property thisown

The membership flag

x(t)

Conditional comment:

End of conditional comment.

class sdurw_trajectory.sdurw_trajectory.ParabolicBlendVector3DCPtr(*args)

Bases: object

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

__init__(*args)

Overload 1:

Default constructor yielding a NULL-pointer.

Overload 2:

Do not take ownership of ptr.

ptr can be null.

The constructor is implicit on purpose.

ddx(t)

Conditional comment:

End of conditional comment.

deref()

The pointer stored in the object.

duration()

get the duration of the blend :rtype: float :return: duration

dx(t)

Conditional comment:

End of conditional comment.

getDeref()

Member access operator.

isNull()

checks if the pointer is null :rtype: boolean :return: Returns true if the pointer is null

isShared()

check if this Ptr has shared ownership or none ownership :rtype: boolean :return: true if Ptr has shared ownership, false if it has no ownership.

tau1()

Conditional comment:

End of conditional comment.

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

tau2()

Conditional comment:

End of conditional comment.

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

property thisown

The membership flag

x(t)

Conditional comment:

End of conditional comment.

class sdurw_trajectory.sdurw_trajectory.ParabolicBlendVector3DPtr(*args)

Bases: object

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

__init__(*args)

Overload 1:

Default constructor yielding a NULL-pointer.

Overload 2:

Do not take ownership of ptr.

ptr can be null.

The constructor is implicit on purpose.

cptr()

ddx(t)

Conditional comment:

End of conditional comment.

deref()

The pointer stored in the object.

duration()

get the duration of the blend :rtype: float :return: duration

dx(t)

Conditional comment:

End of conditional comment.

getDeref()

Member access operator.

isNull()

checks if the pointer is null :rtype: boolean :return: Returns true if the pointer is null

isShared()

check if this Ptr has shared ownership or none ownership :rtype: boolean :return: true if Ptr has shared ownership, false if it has no ownership.

tau1()

Conditional comment:

End of conditional comment.

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

tau2()

Conditional comment:

End of conditional comment.

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

property thisown

The membership flag

x(t)

Conditional comment:

End of conditional comment.

class sdurw_trajectory.sdurw_trajectory.ParabolicBlendVector3D_f(*args)

Bases: BlendVector3D_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.

__init__(*args)

Overload 1:

Constructs parabolic blend between line1 and line2 with tau as blend time :type line1: rw::trajectory::LinearInterpolator< rw::math::Vector3D< float > > :param line1: [in] First segment :type line2: rw::trajectory::LinearInterpolator< rw::math::Vector3D< float > > :param line2: [in] Second segment :type tau: float :param tau: [in] Blend time

Overload 2:

Constructs parabolic blend between line1 and line2 with tau as blend time. The segments is copied for internal storage :type line1: rw::trajectory::LinearInterpolator< rw::math::Vector3D< float > >::CPtr :param line1: [in] First segment :type line2: rw::trajectory::LinearInterpolator< rw::math::Vector3D< float > >::CPtr :param line2: [in] Second segment :type tau: float :param tau: [in] Blend time

Overload 3:

Constructs parabolic blend between line1 and line2 with tau as blend time. The segments is copied for internal storage :type line1: rw::trajectory::LinearInterpolator< rw::math::Vector3D< float > >::Ptr :param line1: [in] First segment :type line2: rw::trajectory::LinearInterpolator< rw::math::Vector3D< float > >::Ptr :param line2: [in] Second segment :type tau: float :param tau: [in] Blend time

ddx(t)

Conditional comment:

End of conditional comment.

duration()

get the duration of the blend :rtype: float :return: duration

dx(t)

Conditional comment:

End of conditional comment.

tau1()

Conditional comment:

End of conditional comment.

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

tau2()

Conditional comment:

End of conditional comment.

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

property thisown

The membership flag

x(t)

Conditional comment:

End of conditional comment.

class sdurw_trajectory.sdurw_trajectory.ParabolicBlendVector3D_fCPtr(*args)

Bases: object

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

__init__(*args)

Overload 1:

Default constructor yielding a NULL-pointer.

Overload 2:

Do not take ownership of ptr.

ptr can be null.

The constructor is implicit on purpose.

ddx(t)

Conditional comment:

End of conditional comment.

deref()

The pointer stored in the object.

duration()

get the duration of the blend :rtype: float :return: duration

dx(t)

Conditional comment:

End of conditional comment.

getDeref()

Member access operator.

isNull()

checks if the pointer is null :rtype: boolean :return: Returns true if the pointer is null

isShared()

check if this Ptr has shared ownership or none ownership :rtype: boolean :return: true if Ptr has shared ownership, false if it has no ownership.

tau1()

Conditional comment:

End of conditional comment.

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

tau2()

Conditional comment:

End of conditional comment.

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

property thisown

The membership flag

x(t)

Conditional comment:

End of conditional comment.

class sdurw_trajectory.sdurw_trajectory.ParabolicBlendVector3D_fPtr(*args)

Bases: object

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

__init__(*args)

Overload 1:

Default constructor yielding a NULL-pointer.

Overload 2:

Do not take ownership of ptr.

ptr can be null.

The constructor is implicit on purpose.

cptr()

ddx(t)

Conditional comment:

End of conditional comment.

deref()

The pointer stored in the object.

duration()

get the duration of the blend :rtype: float :return: duration

dx(t)

Conditional comment:

End of conditional comment.

getDeref()

Member access operator.

isNull()

checks if the pointer is null :rtype: boolean :return: Returns true if the pointer is null

isShared()

check if this Ptr has shared ownership or none ownership :rtype: boolean :return: true if Ptr has shared ownership, false if it has no ownership.

tau1()

Conditional comment:

End of conditional comment.

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

tau2()

Conditional comment:

End of conditional comment.

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

property thisown

The membership flag

x(t)

Conditional comment:

End of conditional comment.

class sdurw_trajectory.sdurw_trajectory.ParabolicBlend_d(*args)

Bases: 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.

__init__(*args)

Overload 1:

Constructs parabolic blend between line1 and line2 with tau as blend time :type line1: rw::trajectory::LinearInterpolator< double > :param line1: [in] First segment :type line2: rw::trajectory::LinearInterpolator< double > :param line2: [in] Second segment :type tau: float :param tau: [in] Blend time

Overload 2:

Constructs parabolic blend between line1 and line2 with tau as blend time. The segments is copied for internal storage :type line1: rw::trajectory::LinearInterpolator< double >::CPtr :param line1: [in] First segment :type line2: rw::trajectory::LinearInterpolator< double >::CPtr :param line2: [in] Second segment :type tau: float :param tau: [in] Blend time

Overload 3:

Constructs parabolic blend between line1 and line2 with tau as blend time. The segments is copied for internal storage :type line1: rw::trajectory::LinearInterpolator< double >::Ptr :param line1: [in] First segment :type line2: rw::trajectory::LinearInterpolator< double >::Ptr :param line2: [in] Second segment :type tau: float :param tau: [in] Blend time

ddx(t)

Conditional comment:

End of conditional comment.

duration()

get the duration of the blend :rtype: float :return: duration

dx(t)

Conditional comment:

End of conditional comment.

tau1()

Conditional comment:

End of conditional comment.

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

tau2()

Conditional comment:

End of conditional comment.

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

property thisown

The membership flag

x(t)

Conditional comment:

End of conditional comment.

class sdurw_trajectory.sdurw_trajectory.ParabolicBlend_dCPtr(*args)

Bases: object

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

__init__(*args)

Overload 1:

Default constructor yielding a NULL-pointer.

Overload 2:

Do not take ownership of ptr.

ptr can be null.

The constructor is implicit on purpose.

ddx(t)

Conditional comment:

End of conditional comment.

deref()

The pointer stored in the object.

duration()

get the duration of the blend :rtype: float :return: duration

dx(t)

Conditional comment:

End of conditional comment.

getDeref()

Member access operator.

isNull()

checks if the pointer is null :rtype: boolean :return: Returns true if the pointer is null

isShared()

check if this Ptr has shared ownership or none ownership :rtype: boolean :return: true if Ptr has shared ownership, false if it has no ownership.

tau1()

Conditional comment:

End of conditional comment.

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

tau2()

Conditional comment:

End of conditional comment.

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

property thisown

The membership flag

x(t)

Conditional comment:

End of conditional comment.

class sdurw_trajectory.sdurw_trajectory.ParabolicBlend_dPtr(*args)

Bases: object

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

__init__(*args)

Overload 1:

Default constructor yielding a NULL-pointer.

Overload 2:

Do not take ownership of ptr.

ptr can be null.

The constructor is implicit on purpose.

cptr()

ddx(t)

Conditional comment:

End of conditional comment.

deref()

The pointer stored in the object.

duration()

get the duration of the blend :rtype: float :return: duration

dx(t)

Conditional comment:

End of conditional comment.

getDeref()

Member access operator.

isNull()

checks if the pointer is null :rtype: boolean :return: Returns true if the pointer is null

isShared()

check if this Ptr has shared ownership or none ownership :rtype: boolean :return: true if Ptr has shared ownership, false if it has no ownership.

tau1()

Conditional comment:

End of conditional comment.

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

tau2()

Conditional comment:

End of conditional comment.

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

property thisown

The membership flag

x(t)

Conditional comment:

End of conditional comment.

class sdurw_trajectory.sdurw_trajectory.ParabolicBlend_d_f(*args)

Bases: 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.

__init__(*args)

Overload 1:

Constructs parabolic blend between line1 and line2 with tau as blend time :type line1: rw::trajectory::LinearInterpolator< float > :param line1: [in] First segment :type line2: rw::trajectory::LinearInterpolator< float > :param line2: [in] Second segment :type tau: float :param tau: [in] Blend time

Overload 2:

Constructs parabolic blend between line1 and line2 with tau as blend time. The segments is copied for internal storage :type line1: rw::trajectory::LinearInterpolator< float >::CPtr :param line1: [in] First segment :type line2: rw::trajectory::LinearInterpolator< float >::CPtr :param line2: [in] Second segment :type tau: float :param tau: [in] Blend time

Overload 3:

Constructs parabolic blend between line1 and line2 with tau as blend time. The segments is copied for internal storage :type line1: rw::trajectory::LinearInterpolator< float >::Ptr :param line1: [in] First segment :type line2: rw::trajectory::LinearInterpolator< float >::Ptr :param line2: [in] Second segment :type tau: float :param tau: [in] Blend time

ddx(t)

Conditional comment:

End of conditional comment.

duration()

get the duration of the blend :rtype: float :return: duration

dx(t)

Conditional comment:

End of conditional comment.

tau1()

Conditional comment:

End of conditional comment.

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

tau2()

Conditional comment:

End of conditional comment.

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

property thisown

The membership flag

x(t)

Conditional comment:

End of conditional comment.

class sdurw_trajectory.sdurw_trajectory.ParabolicBlend_d_fCPtr(*args)

Bases: object

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

__init__(*args)

Overload 1:

Default constructor yielding a NULL-pointer.

Overload 2:

Do not take ownership of ptr.

ptr can be null.

The constructor is implicit on purpose.

ddx(t)

Conditional comment:

End of conditional comment.

deref()

The pointer stored in the object.

duration()

get the duration of the blend :rtype: float :return: duration

dx(t)

Conditional comment:

End of conditional comment.

getDeref()

Member access operator.

isNull()

checks if the pointer is null :rtype: boolean :return: Returns true if the pointer is null

isShared()

check if this Ptr has shared ownership or none ownership :rtype: boolean :return: true if Ptr has shared ownership, false if it has no ownership.

tau1()

Conditional comment:

End of conditional comment.

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

tau2()

Conditional comment:

End of conditional comment.

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

property thisown

The membership flag

x(t)

Conditional comment:

End of conditional comment.

class sdurw_trajectory.sdurw_trajectory.ParabolicBlend_d_fPtr(*args)

Bases: object

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

__init__(*args)

Overload 1:

Default constructor yielding a NULL-pointer.

Overload 2:

Do not take ownership of ptr.

ptr can be null.

The constructor is implicit on purpose.

cptr()

ddx(t)

Conditional comment:

End of conditional comment.

deref()

The pointer stored in the object.

duration()

get the duration of the blend :rtype: float :return: duration

dx(t)

Conditional comment:

End of conditional comment.

getDeref()

Member access operator.

isNull()

checks if the pointer is null :rtype: boolean :return: Returns true if the pointer is null

isShared()

check if this Ptr has shared ownership or none ownership :rtype: boolean :return: true if Ptr has shared ownership, false if it has no ownership.

tau1()

Conditional comment:

End of conditional comment.

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

tau2()

Conditional comment:

End of conditional comment.

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

property thisown

The membership flag

x(t)

Conditional comment:

End of conditional comment.

class sdurw_trajectory.sdurw_trajectory.PathQ(arg1=None, arg2=None)

Bases: list

This class is deprecated and is basically a wrapper around a list

__init__(arg1=None, arg2=None)

at(i)

back()

clear()

Remove all items from list.

empty()

front()

pop_back()

push_back(elem)

size()

class sdurw_trajectory.sdurw_trajectory.PathQuaternion(arg1=None, arg2=None)

Bases: list

This class is deprecated and is basically a wrapper around a list

__init__(arg1=None, arg2=None)

at(i)

back()

clear()

Remove all items from list.

empty()

front()

pop_back()

push_back(elem)

size()

class sdurw_trajectory.sdurw_trajectory.PathRotation3D(arg1=None, arg2=None)

Bases: list

This class is deprecated and is basically a wrapper around a list

__init__(arg1=None, arg2=None)

at(i)

back()

clear()

Remove all items from list.

empty()

front()

pop_back()

push_back(elem)

size()

class sdurw_trajectory.sdurw_trajectory.PathRotation3D_f(arg1=None, arg2=None)

Bases: list

This class is deprecated and is basically a wrapper around a list

__init__(arg1=None, arg2=None)

at(i)

back()

clear()

Remove all items from list.

empty()

front()

pop_back()

push_back(elem)

size()

class sdurw_trajectory.sdurw_trajectory.PathState(arg1=None, arg2=None)

Bases: list

This class is deprecated and is basically a wrapper around a list

__init__(arg1=None, arg2=None)

at(i)

back()

clear()

Remove all items from list.

empty()

front()

pop_back()

push_back(elem)

size()

class sdurw_trajectory.sdurw_trajectory.PathTimedQ(arg1=None, arg2=None)

Bases: list

This class is deprecated and is basically a wrapper around a list

__init__(arg1=None, arg2=None)

at(i)

back()

clear()

Remove all items from list.

empty()

front()

pop_back()

push_back(elem)

size()

class sdurw_trajectory.sdurw_trajectory.PathTimedState(arg1=None, arg2=None)

Bases: list

This class is deprecated and is basically a wrapper around a list

__init__(arg1=None, arg2=None)

at(i)

back()

clear()

Remove all items from list.

empty()

front()

pop_back()

push_back(elem)

size()

class sdurw_trajectory.sdurw_trajectory.PathTimedTransform3D(arg1=None, arg2=None)

Bases: list

This class is deprecated and is basically a wrapper around a list

__init__(arg1=None, arg2=None)

at(i)

back()

clear()

Remove all items from list.

empty()

front()

pop_back()

push_back(elem)

size()

class sdurw_trajectory.sdurw_trajectory.PathTransform3D(arg1=None, arg2=None)

Bases: list

This class is deprecated and is basically a wrapper around a list

__init__(arg1=None, arg2=None)

at(i)

back()

clear()

Remove all items from list.

empty()

front()

pop_back()

push_back(elem)

size()

class sdurw_trajectory.sdurw_trajectory.PathTransform3DVector(arg1=None, arg2=None)

Bases: list

This class is deprecated and is basically a wrapper around a list

__init__(arg1=None, arg2=None)

at(i)

back()

clear()

Remove all items from list.

empty()

front()

pop_back()

push_back(elem)

size()

class sdurw_trajectory.sdurw_trajectory.PathTransform3D_d(arg1=None, arg2=None)

Bases: list

This class is deprecated and is basically a wrapper around a list

__init__(arg1=None, arg2=None)

at(i)

back()

clear()

Remove all items from list.

empty()

front()

pop_back()

push_back(elem)

size()

class sdurw_trajectory.sdurw_trajectory.PathVector2D(arg1=None, arg2=None)

Bases: list

This class is deprecated and is basically a wrapper around a list

__init__(arg1=None, arg2=None)

at(i)

back()

clear()

Remove all items from list.

empty()

front()

pop_back()

push_back(elem)

size()

class sdurw_trajectory.sdurw_trajectory.PathVector2D_f(arg1=None, arg2=None)

Bases: list

This class is deprecated and is basically a wrapper around a list

__init__(arg1=None, arg2=None)

at(i)

back()

clear()

Remove all items from list.

empty()

front()

pop_back()

push_back(elem)

size()

class sdurw_trajectory.sdurw_trajectory.PathVector3D(arg1=None, arg2=None)

Bases: list

This class is deprecated and is basically a wrapper around a list

__init__(arg1=None, arg2=None)

at(i)

back()

clear()

Remove all items from list.

empty()

front()

pop_back()

push_back(elem)

size()

class sdurw_trajectory.sdurw_trajectory.PathVector3D_f(arg1=None, arg2=None)

Bases: list

This class is deprecated and is basically a wrapper around a list

__init__(arg1=None, arg2=None)

at(i)

back()

clear()

Remove all items from list.

empty()

front()

pop_back()

push_back(elem)

size()

class sdurw_trajectory.sdurw_trajectory.Path_d(arg1=None, arg2=None)

Bases: list

This class is deprecated and is basically a wrapper around a list

__init__(arg1=None, arg2=None)

at(i)

back()

clear()

Remove all items from list.

empty()

front()

pop_back()

push_back(elem)

size()

class sdurw_trajectory.sdurw_trajectory.Path_f(arg1=None, arg2=None)

Bases: list

This class is deprecated and is basically a wrapper around a list

__init__(arg1=None, arg2=None)

at(i)

back()

clear()

Remove all items from list.

empty()

front()

pop_back()

push_back(elem)

size()

class sdurw_trajectory.sdurw_trajectory.RampInterpolatorQ(start, end, vellimits, acclimits, duration=-1)

Bases: InterpolatorQ

Make a ramp interpolation between two position

The template argument given needs to support addition with the “+” operator and scaling with a double using the “*” operator.

For use with a rw::math::Transform3D see the template specialization

__init__(start, end, vellimits, acclimits, duration=-1)

Construct RampInterpolator starting at start and finishing in end with velocity limits vellimimts and acceleration limits acclimits. The duration will be calculated automatically. The start and end velocity and acceleration is zero.

If duration is not achievable given the velocity and acceleration limits then the duration will be extended. :type start: Q :param start: [in] Start of interpolator :type end: Q :param end: [in] End of interpolator :type vellimits: Q :param vellimits: [in] velocity limits :type acclimits: Q :param acclimits: [in] acceleration limits :type duration: float, optional :param duration: [in] Time it takes to from one end to the other.

ddx(t)

Acceleration at time t :type t: float :param t: [in] time between 0 and length :rtype: Q :return: Acceleration

duration()

Returns the duration of the interpolator

The duration is defined as the time it takes to move from one end of the interpolator to the other. :rtype: float :return: duration

dx(t)

Velocity at time t :type t: float :param t: [in] time between 0 and length :rtype: Q :return: Velocity

getEnd()

Returns the end position of the interpolator :rtype: Q :return: The end position of the interpolator

getStart()

Returns the start position of the interpolator :rtype: Q :return: The start position of the interpolator

property thisown

The membership flag

x(t)

Position at time t :type t: float :param t: [in] time between 0 and length :rtype: Q :return: Position

class sdurw_trajectory.sdurw_trajectory.RampInterpolatorQCPtr(*args)

Bases: object

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

__init__(*args)

Overload 1:

Default constructor yielding a NULL-pointer.

Overload 2:

Do not take ownership of ptr.

ptr can be null.

The constructor is implicit on purpose.

ddx(t)

deref()

The pointer stored in the object.

duration()

dx(t)

getDeref()

Member access operator.

getEnd()

Returns the end position of the interpolator :rtype: Q :return: The end position of the interpolator

getStart()

Returns the start position of the interpolator :rtype: Q :return: The start position of the interpolator

isNull()

checks if the pointer is null :rtype: boolean :return: Returns true if the pointer is null

isShared()

check if this Ptr has shared ownership or none ownership :rtype: boolean :return: true if Ptr has shared ownership, false if it has no ownership.

property thisown

The membership flag

x(t)

class sdurw_trajectory.sdurw_trajectory.RampInterpolatorQPtr(*args)

Bases: object

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

__init__(*args)

Overload 1:

Default constructor yielding a NULL-pointer.

Overload 2:

Do not take ownership of ptr.

ptr can be null.

The constructor is implicit on purpose.

cptr()

ddx(t)

deref()

The pointer stored in the object.

duration()

dx(t)

getDeref()

Member access operator.

getEnd()

Returns the end position of the interpolator :rtype: Q :return: The end position of the interpolator

getStart()

Returns the start position of the interpolator :rtype: Q :return: The start position of the interpolator

isNull()

checks if the pointer is null :rtype: boolean :return: Returns true if the pointer is null

isShared()

check if this Ptr has shared ownership or none ownership :rtype: boolean :return: true if Ptr has shared ownership, false if it has no ownership.

property thisown

The membership flag

x(t)

sdurw_trajectory.sdurw_trajectory.RampInterpolatorR1

alias of RampInterpolator_d

sdurw_trajectory.sdurw_trajectory.RampInterpolatorR2

alias of RampInterpolatorVector2D

sdurw_trajectory.sdurw_trajectory.RampInterpolatorR3

alias of RampInterpolatorVector3D

class sdurw_trajectory.sdurw_trajectory.RampInterpolatorRotation3D(start, end, vellimits, acclimits, duration=-1)

Bases: InterpolatorRotation3D

Make a ramp interpolation between two position

The template argument given needs to support addition with the “+” operator and scaling with a double using the “*” operator.

For use with a rw::math::Transform3D see the template specialization

__init__(start, end, vellimits, acclimits, duration=-1)

Construct RampInterpolator starting at start and finishing in end with velocity limits vellimimts and acceleration limits acclimits. The duration will be calculated automatically. The start and end velocity and acceleration is zero.

If duration is not achievable given the velocity and acceleration limits then the duration will be extended. :type start: rw::math::Rotation3D< double > :param start: [in] Start of interpolator :type end: rw::math::Rotation3D< double > :param end: [in] End of interpolator :type vellimits: rw::math::Rotation3D< double > :param vellimits: [in] velocity limits :type acclimits: rw::math::Rotation3D< double > :param acclimits: [in] acceleration limits :type duration: float, optional :param duration: [in] Time it takes to from one end to the other.

ddx(t)

Acceleration at time t :type t: float :param t: [in] time between 0 and length :rtype: rw::math::Rotation3D< double > :return: Acceleration

duration()

Returns the duration of the interpolator

The duration is defined as the time it takes to move from one end of the interpolator to the other. :rtype: float :return: duration

dx(t)

Velocity at time t :type t: float :param t: [in] time between 0 and length :rtype: rw::math::Rotation3D< double > :return: Velocity

getEnd()

Returns the end position of the interpolator :rtype: rw::math::Rotation3D< double > :return: The end position of the interpolator

getStart()

Returns the start position of the interpolator :rtype: rw::math::Rotation3D< double > :return: The start position of the interpolator

property thisown

The membership flag

x(t)

Position at time t :type t: float :param t: [in] time between 0 and length :rtype: rw::math::Rotation3D< double > :return: Position

class sdurw_trajectory.sdurw_trajectory.RampInterpolatorRotation3DCPtr(*args)

Bases: object

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

__init__(*args)

Overload 1:

Default constructor yielding a NULL-pointer.

Overload 2:

Do not take ownership of ptr.

ptr can be null.

The constructor is implicit on purpose.

ddx(t)

deref()

The pointer stored in the object.

duration()

dx(t)

getDeref()

Member access operator.

getEnd()

Returns the end position of the interpolator :rtype: rw::math::Rotation3D< double > :return: The end position of the interpolator

getStart()

Returns the start position of the interpolator :rtype: rw::math::Rotation3D< double > :return: The start position of the interpolator

isNull()

checks if the pointer is null :rtype: boolean :return: Returns true if the pointer is null

isShared()

check if this Ptr has shared ownership or none ownership :rtype: boolean :return: true if Ptr has shared ownership, false if it has no ownership.

property thisown

The membership flag

x(t)

class sdurw_trajectory.sdurw_trajectory.RampInterpolatorRotation3DPtr(*args)

Bases: object

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

__init__(*args)

Overload 1:

Default constructor yielding a NULL-pointer.

Overload 2:

Do not take ownership of ptr.

ptr can be null.

The constructor is implicit on purpose.

cptr()

ddx(t)

deref()

The pointer stored in the object.

duration()

dx(t)

getDeref()

Member access operator.

getEnd()

Returns the end position of the interpolator :rtype: rw::math::Rotation3D< double > :return: The end position of the interpolator

getStart()

Returns the start position of the interpolator :rtype: rw::math::Rotation3D< double > :return: The start position of the interpolator

isNull()

checks if the pointer is null :rtype: boolean :return: Returns true if the pointer is null

isShared()

check if this Ptr has shared ownership or none ownership :rtype: boolean :return: true if Ptr has shared ownership, false if it has no ownership.

property thisown

The membership flag

x(t)

class sdurw_trajectory.sdurw_trajectory.RampInterpolatorRotation3D_f(start, end, vellimits, acclimits, duration=-1)

Bases: InterpolatorRotation3D_f

Make a ramp interpolation between two position

The template argument given needs to support addition with the “+” operator and scaling with a double using the “*” operator.

For use with a rw::math::Transform3D see the template specialization

__init__(start, end, vellimits, acclimits, duration=-1)

Construct RampInterpolator starting at start and finishing in end with velocity limits vellimimts and acceleration limits acclimits. The duration will be calculated automatically. The start and end velocity and acceleration is zero.

If duration is not achievable given the velocity and acceleration limits then the duration will be extended. :type start: rw::math::Rotation3D< float > :param start: [in] Start of interpolator :type end: rw::math::Rotation3D< float > :param end: [in] End of interpolator :type vellimits: rw::math::Rotation3D< float > :param vellimits: [in] velocity limits :type acclimits: rw::math::Rotation3D< float > :param acclimits: [in] acceleration limits :type duration: float, optional :param duration: [in] Time it takes to from one end to the other.

ddx(t)

Acceleration at time t :type t: float :param t: [in] time between 0 and length :rtype: rw::math::Rotation3D< float > :return: Acceleration

duration()

Returns the duration of the interpolator

The duration is defined as the time it takes to move from one end of the interpolator to the other. :rtype: float :return: duration

dx(t)

Velocity at time t :type t: float :param t: [in] time between 0 and length :rtype: rw::math::Rotation3D< float > :return: Velocity

getEnd()

Returns the end position of the interpolator :rtype: rw::math::Rotation3D< float > :return: The end position of the interpolator

getStart()

Returns the start position of the interpolator :rtype: rw::math::Rotation3D< float > :return: The start position of the interpolator

property thisown

The membership flag

x(t)

Position at time t :type t: float :param t: [in] time between 0 and length :rtype: rw::math::Rotation3D< float > :return: Position

class sdurw_trajectory.sdurw_trajectory.RampInterpolatorRotation3D_fCPtr(*args)

Bases: object

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

__init__(*args)

Overload 1:

Default constructor yielding a NULL-pointer.

Overload 2:

Do not take ownership of ptr.

ptr can be null.

The constructor is implicit on purpose.

ddx(t)

deref()

The pointer stored in the object.

duration()

dx(t)

getDeref()

Member access operator.

getEnd()

Returns the end position of the interpolator :rtype: rw::math::Rotation3D< float > :return: The end position of the interpolator

getStart()

Returns the start position of the interpolator :rtype: rw::math::Rotation3D< float > :return: The start position of the interpolator

isNull()

checks if the pointer is null :rtype: boolean :return: Returns true if the pointer is null

isShared()

check if this Ptr has shared ownership or none ownership :rtype: boolean :return: true if Ptr has shared ownership, false if it has no ownership.

property thisown

The membership flag

x(t)

class sdurw_trajectory.sdurw_trajectory.RampInterpolatorRotation3D_fPtr(*args)

Bases: object

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

__init__(*args)

Overload 1:

Default constructor yielding a NULL-pointer.

Overload 2:

Do not take ownership of ptr.

ptr can be null.

The constructor is implicit on purpose.

cptr()

ddx(t)

deref()

The pointer stored in the object.

duration()

dx(t)

getDeref()

Member access operator.

getEnd()

Returns the end position of the interpolator :rtype: rw::math::Rotation3D< float > :return: The end position of the interpolator

getStart()

Returns the start position of the interpolator :rtype: rw::math::Rotation3D< float > :return: The start position of the interpolator

isNull()

checks if the pointer is null :rtype: boolean :return: Returns true if the pointer is null

isShared()

check if this Ptr has shared ownership or none ownership :rtype: boolean :return: true if Ptr has shared ownership, false if it has no ownership.

property thisown

The membership flag

x(t)

sdurw_trajectory.sdurw_trajectory.RampInterpolatorSE3

alias of RampInterpolatorTransform3D

sdurw_trajectory.sdurw_trajectory.RampInterpolatorSO3

alias of RampInterpolatorRotation3D

class sdurw_trajectory.sdurw_trajectory.RampInterpolatorTransform3D(start, end, vellimits, acclimits, duration=-1)

Bases: InterpolatorTransform3D

Make a ramp interpolation between two position

The template argument given needs to support addition with the “+” operator and scaling with a double using the “*” operator.

For use with a rw::math::Transform3D see the template specialization

__init__(start, end, vellimits, acclimits, duration=-1)

Construct RampInterpolator starting at start and finishing in end with velocity limits vellimimts and acceleration limits acclimits. The duration will be calculated automatically. The start and end velocity and acceleration is zero.

If duration is not achievable given the velocity and acceleration limits then the duration will be extended. :type start: rw::math::Transform3D< double > :param start: [in] Start of interpolator :type end: rw::math::Transform3D< double > :param end: [in] End of interpolator :type vellimits: rw::math::Transform3D< double > :param vellimits: [in] velocity limits :type acclimits: rw::math::Transform3D< double > :param acclimits: [in] acceleration limits :type duration: float, optional :param duration: [in] Time it takes to from one end to the other.

ddx(t)

Acceleration at time t :type t: float :param t: [in] time between 0 and length :rtype: rw::math::Transform3D< double > :return: Acceleration

duration()

Returns the duration of the interpolator

The duration is defined as the time it takes to move from one end of the interpolator to the other. :rtype: float :return: duration

dx(t)

Velocity at time t :type t: float :param t: [in] time between 0 and length :rtype: rw::math::Transform3D< double > :return: Velocity

getEnd()

Returns the end position of the interpolator :rtype: rw::math::Transform3D< double > :return: The end position of the interpolator

getStart()

Returns the start position of the interpolator :rtype: rw::math::Transform3D< double > :return: The start position of the interpolator

property thisown

The membership flag

x(t)

Position at time t :type t: float :param t: [in] time between 0 and length :rtype: rw::math::Transform3D< double > :return: Position

class sdurw_trajectory.sdurw_trajectory.RampInterpolatorTransform3DCPtr(*args)

Bases: object

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

__init__(*args)

Overload 1:

Default constructor yielding a NULL-pointer.

Overload 2:

Do not take ownership of ptr.

ptr can be null.

The constructor is implicit on purpose.

ddx(t)

deref()

The pointer stored in the object.

duration()

dx(t)

getDeref()

Member access operator.

getEnd()

Returns the end position of the interpolator :rtype: rw::math::Transform3D< double > :return: The end position of the interpolator

getStart()

Returns the start position of the interpolator :rtype: rw::math::Transform3D< double > :return: The start position of the interpolator

isNull()

checks if the pointer is null :rtype: boolean :return: Returns true if the pointer is null

isShared()

check if this Ptr has shared ownership or none ownership :rtype: boolean :return: true if Ptr has shared ownership, false if it has no ownership.

property thisown

The membership flag

x(t)

class sdurw_trajectory.sdurw_trajectory.RampInterpolatorTransform3DPtr(*args)

Bases: object

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

__init__(*args)

Overload 1:

Default constructor yielding a NULL-pointer.

Overload 2:

Do not take ownership of ptr.

ptr can be null.

The constructor is implicit on purpose.

cptr()

ddx(t)

deref()

The pointer stored in the object.

duration()

dx(t)

getDeref()

Member access operator.

getEnd()

Returns the end position of the interpolator :rtype: rw::math::Transform3D< double > :return: The end position of the interpolator

getStart()

Returns the start position of the interpolator :rtype: rw::math::Transform3D< double > :return: The start position of the interpolator

isNull()

checks if the pointer is null :rtype: boolean :return: Returns true if the pointer is null

isShared()

check if this Ptr has shared ownership or none ownership :rtype: boolean :return: true if Ptr has shared ownership, false if it has no ownership.

property thisown

The membership flag

x(t)

class sdurw_trajectory.sdurw_trajectory.RampInterpolatorTransform3D_f(start, end, vellimits, acclimits, duration=-1)

Bases: InterpolatorTransform3D_f

Make a ramp interpolation between two position

The template argument given needs to support addition with the “+” operator and scaling with a double using the “*” operator.

For use with a rw::math::Transform3D see the template specialization

__init__(start, end, vellimits, acclimits, duration=-1)

Construct RampInterpolator starting at start and finishing in end with velocity limits vellimimts and acceleration limits acclimits. The duration will be calculated automatically. The start and end velocity and acceleration is zero.

If duration is not achievable given the velocity and acceleration limits then the duration will be extended. :type start: rw::math::Transform3D< float > :param start: [in] Start of interpolator :type end: rw::math::Transform3D< float > :param end: [in] End of interpolator :type vellimits: rw::math::Transform3D< float > :param vellimits: [in] velocity limits :type acclimits: rw::math::Transform3D< float > :param acclimits: [in] acceleration limits :type duration: float, optional :param duration: [in] Time it takes to from one end to the other.

ddx(t)

Acceleration at time t :type t: float :param t: [in] time between 0 and length :rtype: rw::math::Transform3D< float > :return: Acceleration

duration()

Returns the duration of the interpolator

The duration is defined as the time it takes to move from one end of the interpolator to the other. :rtype: float :return: duration

dx(t)

Velocity at time t :type t: float :param t: [in] time between 0 and length :rtype: rw::math::Transform3D< float > :return: Velocity

getEnd()

Returns the end position of the interpolator :rtype: rw::math::Transform3D< float > :return: The end position of the interpolator

getStart()

Returns the start position of the interpolator :rtype: rw::math::Transform3D< float > :return: The start position of the interpolator

property thisown

The membership flag

x(t)

Position at time t :type t: float :param t: [in] time between 0 and length :rtype: rw::math::Transform3D< float > :return: Position

class sdurw_trajectory.sdurw_trajectory.RampInterpolatorTransform3D_fCPtr(*args)

Bases: object

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

__init__(*args)

Overload 1:

Default constructor yielding a NULL-pointer.

Overload 2:

Do not take ownership of ptr.

ptr can be null.

The constructor is implicit on purpose.

ddx(t)

deref()

The pointer stored in the object.

duration()

dx(t)

getDeref()

Member access operator.

getEnd()

Returns the end position of the interpolator :rtype: rw::math::Transform3D< float > :return: The end position of the interpolator

getStart()

Returns the start position of the interpolator :rtype: rw::math::Transform3D< float > :return: The start position of the interpolator

isNull()

checks if the pointer is null :rtype: boolean :return: Returns true if the pointer is null

isShared()

check if this Ptr has shared ownership or none ownership :rtype: boolean :return: true if Ptr has shared ownership, false if it has no ownership.

property thisown

The membership flag

x(t)

class sdurw_trajectory.sdurw_trajectory.RampInterpolatorTransform3D_fPtr(*args)

Bases: object

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

__init__(*args)

Overload 1:

Default constructor yielding a NULL-pointer.

Overload 2:

Do not take ownership of ptr.

ptr can be null.

The constructor is implicit on purpose.

cptr()

ddx(t)

deref()

The pointer stored in the object.

duration()

dx(t)

getDeref()

Member access operator.

getEnd()

Returns the end position of the interpolator :rtype: rw::math::Transform3D< float > :return: The end position of the interpolator

getStart()

Returns the start position of the interpolator :rtype: rw::math::Transform3D< float > :return: The start position of the interpolator

isNull()

checks if the pointer is null :rtype: boolean :return: Returns true if the pointer is null

isShared()

check if this Ptr has shared ownership or none ownership :rtype: boolean :return: true if Ptr has shared ownership, false if it has no ownership.

property thisown

The membership flag

x(t)

class sdurw_trajectory.sdurw_trajectory.RampInterpolatorVector2D(start, end, vellimits, acclimits, duration=-1)

Bases: InterpolatorVector2D

Make a ramp interpolation between two position

The template argument given needs to support addition with the “+” operator and scaling with a double using the “*” operator.

For use with a rw::math::Transform3D see the template specialization

__init__(start, end, vellimits, acclimits, duration=-1)

Construct RampInterpolator starting at start and finishing in end with velocity limits vellimimts and acceleration limits acclimits. The duration will be calculated automatically. The start and end velocity and acceleration is zero.

If duration is not achievable given the velocity and acceleration limits then the duration will be extended. :type start: rw::math::Vector2D< double > :param start: [in] Start of interpolator :type end: rw::math::Vector2D< double > :param end: [in] End of interpolator :type vellimits: rw::math::Vector2D< double > :param vellimits: [in] velocity limits :type acclimits: rw::math::Vector2D< double > :param acclimits: [in] acceleration limits :type duration: float, optional :param duration: [in] Time it takes to from one end to the other.

ddx(t)

Acceleration at time t :type t: float :param t: [in] time between 0 and length :rtype: rw::math::Vector2D< double > :return: Acceleration

duration()

Returns the duration of the interpolator

The duration is defined as the time it takes to move from one end of the interpolator to the other. :rtype: float :return: duration

dx(t)

Velocity at time t :type t: float :param t: [in] time between 0 and length :rtype: rw::math::Vector2D< double > :return: Velocity

getEnd()

Returns the end position of the interpolator :rtype: rw::math::Vector2D< double > :return: The end position of the interpolator

getStart()

Returns the start position of the interpolator :rtype: rw::math::Vector2D< double > :return: The start position of the interpolator

property thisown

The membership flag

x(t)

Position at time t :type t: float :param t: [in] time between 0 and length :rtype: rw::math::Vector2D< double > :return: Position

class sdurw_trajectory.sdurw_trajectory.RampInterpolatorVector2DCPtr(*args)

Bases: object

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

__init__(*args)

Overload 1:

Default constructor yielding a NULL-pointer.

Overload 2:

Do not take ownership of ptr.

ptr can be null.

The constructor is implicit on purpose.

ddx(t)

deref()

The pointer stored in the object.

duration()

dx(t)

getDeref()

Member access operator.

getEnd()

Returns the end position of the interpolator :rtype: rw::math::Vector2D< double > :return: The end position of the interpolator

getStart()

Returns the start position of the interpolator :rtype: rw::math::Vector2D< double > :return: The start position of the interpolator

isNull()

checks if the pointer is null :rtype: boolean :return: Returns true if the pointer is null

isShared()

check if this Ptr has shared ownership or none ownership :rtype: boolean :return: true if Ptr has shared ownership, false if it has no ownership.

property thisown

The membership flag

x(t)

class sdurw_trajectory.sdurw_trajectory.RampInterpolatorVector2DPtr(*args)

Bases: object

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

__init__(*args)

Overload 1:

Default constructor yielding a NULL-pointer.

Overload 2:

Do not take ownership of ptr.

ptr can be null.

The constructor is implicit on purpose.

cptr()

ddx(t)

deref()

The pointer stored in the object.

duration()

dx(t)

getDeref()

Member access operator.

getEnd()

Returns the end position of the interpolator :rtype: rw::math::Vector2D< double > :return: The end position of the interpolator

getStart()

Returns the start position of the interpolator :rtype: rw::math::Vector2D< double > :return: The start position of the interpolator

isNull()

checks if the pointer is null :rtype: boolean :return: Returns true if the pointer is null

isShared()

check if this Ptr has shared ownership or none ownership :rtype: boolean :return: true if Ptr has shared ownership, false if it has no ownership.

property thisown

The membership flag

x(t)

class sdurw_trajectory.sdurw_trajectory.RampInterpolatorVector2D_f(start, end, vellimits, acclimits, duration=-1)

Bases: InterpolatorVector2D_f

Make a ramp interpolation between two position

The template argument given needs to support addition with the “+” operator and scaling with a double using the “*” operator.

For use with a rw::math::Transform3D see the template specialization

__init__(start, end, vellimits, acclimits, duration=-1)

Construct RampInterpolator starting at start and finishing in end with velocity limits vellimimts and acceleration limits acclimits. The duration will be calculated automatically. The start and end velocity and acceleration is zero.

If duration is not achievable given the velocity and acceleration limits then the duration will be extended. :type start: rw::math::Vector2D< float > :param start: [in] Start of interpolator :type end: rw::math::Vector2D< float > :param end: [in] End of interpolator :type vellimits: rw::math::Vector2D< float > :param vellimits: [in] velocity limits :type acclimits: rw::math::Vector2D< float > :param acclimits: [in] acceleration limits :type duration: float, optional :param duration: [in] Time it takes to from one end to the other.

ddx(t)

Acceleration at time t :type t: float :param t: [in] time between 0 and length :rtype: rw::math::Vector2D< float > :return: Acceleration

duration()

Returns the duration of the interpolator

The duration is defined as the time it takes to move from one end of the interpolator to the other. :rtype: float :return: duration

dx(t)

Velocity at time t :type t: float :param t: [in] time between 0 and length :rtype: rw::math::Vector2D< float > :return: Velocity

getEnd()

Returns the end position of the interpolator :rtype: rw::math::Vector2D< float > :return: The end position of the interpolator

getStart()

Returns the start position of the interpolator :rtype: rw::math::Vector2D< float > :return: The start position of the interpolator

property thisown

The membership flag

x(t)

Position at time t :type t: float :param t: [in] time between 0 and length :rtype: rw::math::Vector2D< float > :return: Position

class sdurw_trajectory.sdurw_trajectory.RampInterpolatorVector2D_fCPtr(*args)

Bases: object

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

__init__(*args)

Overload 1:

Default constructor yielding a NULL-pointer.

Overload 2:

Do not take ownership of ptr.

ptr can be null.

The constructor is implicit on purpose.

ddx(t)

deref()

The pointer stored in the object.

duration()

dx(t)

getDeref()

Member access operator.

getEnd()

Returns the end position of the interpolator :rtype: rw::math::Vector2D< float > :return: The end position of the interpolator

getStart()

Returns the start position of the interpolator :rtype: rw::math::Vector2D< float > :return: The start position of the interpolator

isNull()

checks if the pointer is null :rtype: boolean :return: Returns true if the pointer is null

isShared()

check if this Ptr has shared ownership or none ownership :rtype: boolean :return: true if Ptr has shared ownership, false if it has no ownership.

property thisown

The membership flag

x(t)

class sdurw_trajectory.sdurw_trajectory.RampInterpolatorVector2D_fPtr(*args)

Bases: object

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

__init__(*args)

Overload 1:

Default constructor yielding a NULL-pointer.

Overload 2:

Do not take ownership of ptr.

ptr can be null.

The constructor is implicit on purpose.

cptr()

ddx(t)

deref()

The pointer stored in the object.

duration()

dx(t)

getDeref()

Member access operator.

getEnd()

Returns the end position of the interpolator :rtype: rw::math::Vector2D< float > :return: The end position of the interpolator

getStart()

Returns the start position of the interpolator :rtype: rw::math::Vector2D< float > :return: The start position of the interpolator

isNull()

checks if the pointer is null :rtype: boolean :return: Returns true if the pointer is null

isShared()

check if this Ptr has shared ownership or none ownership :rtype: boolean :return: true if Ptr has shared ownership, false if it has no ownership.

property thisown

The membership flag

x(t)

class sdurw_trajectory.sdurw_trajectory.RampInterpolatorVector3D(start, end, vellimits, acclimits, duration=-1)

Bases: InterpolatorVector3D

Make a ramp interpolation between two position

The template argument given needs to support addition with the “+” operator and scaling with a double using the “*” operator.

For use with a rw::math::Transform3D see the template specialization

__init__(start, end, vellimits, acclimits, duration=-1)

Construct RampInterpolator starting at start and finishing in end with velocity limits vellimimts and acceleration limits acclimits. The duration will be calculated automatically. The start and end velocity and acceleration is zero.

If duration is not achievable given the velocity and acceleration limits then the duration will be extended. :type start: rw::math::Vector3D< double > :param start: [in] Start of interpolator :type end: rw::math::Vector3D< double > :param end: [in] End of interpolator :type vellimits: rw::math::Vector3D< double > :param vellimits: [in] velocity limits :type acclimits: rw::math::Vector3D< double > :param acclimits: [in] acceleration limits :type duration: float, optional :param duration: [in] Time it takes to from one end to the other.

ddx(t)

Acceleration at time t :type t: float :param t: [in] time between 0 and length :rtype: rw::math::Vector3D< double > :return: Acceleration

duration()

Returns the duration of the interpolator

The duration is defined as the time it takes to move from one end of the interpolator to the other. :rtype: float :return: duration

dx(t)

Velocity at time t :type t: float :param t: [in] time between 0 and length :rtype: rw::math::Vector3D< double > :return: Velocity

getEnd()

Returns the end position of the interpolator :rtype: rw::math::Vector3D< double > :return: The end position of the interpolator

getStart()

Returns the start position of the interpolator :rtype: rw::math::Vector3D< double > :return: The start position of the interpolator

property thisown

The membership flag

x(t)

Position at time t :type t: float :param t: [in] time between 0 and length :rtype: rw::math::Vector3D< double > :return: Position

class sdurw_trajectory.sdurw_trajectory.RampInterpolatorVector3DCPtr(*args)

Bases: object

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

__init__(*args)

Overload 1:

Default constructor yielding a NULL-pointer.

Overload 2:

Do not take ownership of ptr.

ptr can be null.

The constructor is implicit on purpose.

ddx(t)

deref()

The pointer stored in the object.

duration()

dx(t)

getDeref()

Member access operator.

getEnd()

Returns the end position of the interpolator :rtype: rw::math::Vector3D< double > :return: The end position of the interpolator

getStart()

Returns the start position of the interpolator :rtype: rw::math::Vector3D< double > :return: The start position of the interpolator

isNull()

checks if the pointer is null :rtype: boolean :return: Returns true if the pointer is null

isShared()

check if this Ptr has shared ownership or none ownership :rtype: boolean :return: true if Ptr has shared ownership, false if it has no ownership.

property thisown

The membership flag

x(t)

class sdurw_trajectory.sdurw_trajectory.RampInterpolatorVector3DPtr(*args)

Bases: object

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

__init__(*args)

Overload 1:

Default constructor yielding a NULL-pointer.

Overload 2:

Do not take ownership of ptr.

ptr can be null.

The constructor is implicit on purpose.

cptr()

ddx(t)

deref()

The pointer stored in the object.

duration()

dx(t)

getDeref()

Member access operator.

getEnd()

Returns the end position of the interpolator :rtype: rw::math::Vector3D< double > :return: The end position of the interpolator

getStart()

Returns the start position of the interpolator :rtype: rw::math::Vector3D< double > :return: The start position of the interpolator

isNull()

checks if the pointer is null :rtype: boolean :return: Returns true if the pointer is null

isShared()

check if this Ptr has shared ownership or none ownership :rtype: boolean :return: true if Ptr has shared ownership, false if it has no ownership.

property thisown

The membership flag

x(t)

class sdurw_trajectory.sdurw_trajectory.RampInterpolatorVector3D_f(start, end, vellimits, acclimits, duration=-1)

Bases: InterpolatorVector3D_f

Make a ramp interpolation between two position

The template argument given needs to support addition with the “+” operator and scaling with a double using the “*” operator.

For use with a rw::math::Transform3D see the template specialization

__init__(start, end, vellimits, acclimits, duration=-1)

Construct RampInterpolator starting at start and finishing in end with velocity limits vellimimts and acceleration limits acclimits. The duration will be calculated automatically. The start and end velocity and acceleration is zero.

If duration is not achievable given the velocity and acceleration limits then the duration will be extended. :type start: rw::math::Vector3D< float > :param start: [in] Start of interpolator :type end: rw::math::Vector3D< float > :param end: [in] End of interpolator :type vellimits: rw::math::Vector3D< float > :param vellimits: [in] velocity limits :type acclimits: rw::math::Vector3D< float > :param acclimits: [in] acceleration limits :type duration: float, optional :param duration: [in] Time it takes to from one end to the other.

ddx(t)

Acceleration at time t :type t: float :param t: [in] time between 0 and length :rtype: rw::math::Vector3D< float > :return: Acceleration

duration()

Returns the duration of the interpolator

The duration is defined as the time it takes to move from one end of the interpolator to the other. :rtype: float :return: duration

dx(t)

Velocity at time t :type t: float :param t: [in] time between 0 and length :rtype: rw::math::Vector3D< float > :return: Velocity

getEnd()

Returns the end position of the interpolator :rtype: rw::math::Vector3D< float > :return: The end position of the interpolator

getStart()

Returns the start position of the interpolator :rtype: rw::math::Vector3D< float > :return: The start position of the interpolator

property thisown

The membership flag

x(t)

Position at time t :type t: float :param t: [in] time between 0 and length :rtype: rw::math::Vector3D< float > :return: Position

class sdurw_trajectory.sdurw_trajectory.RampInterpolatorVector3D_fCPtr(*args)

Bases: object

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

__init__(*args)

Overload 1:

Default constructor yielding a NULL-pointer.

Overload 2:

Do not take ownership of ptr.

ptr can be null.

The constructor is implicit on purpose.

ddx(t)

deref()

The pointer stored in the object.

duration()

dx(t)

getDeref()

Member access operator.

getEnd()

Returns the end position of the interpolator :rtype: rw::math::Vector3D< float > :return: The end position of the interpolator

getStart()

Returns the start position of the interpolator :rtype: rw::math::Vector3D< float > :return: The start position of the interpolator

isNull()

checks if the pointer is null :rtype: boolean :return: Returns true if the pointer is null

isShared()

check if this Ptr has shared ownership or none ownership :rtype: boolean :return: true if Ptr has shared ownership, false if it has no ownership.

property thisown

The membership flag

x(t)

class sdurw_trajectory.sdurw_trajectory.RampInterpolatorVector3D_fPtr(*args)

Bases: object

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

__init__(*args)

Overload 1:

Default constructor yielding a NULL-pointer.

Overload 2:

Do not take ownership of ptr.

ptr can be null.

The constructor is implicit on purpose.

cptr()

ddx(t)

deref()

The pointer stored in the object.

duration()

dx(t)

getDeref()

Member access operator.

getEnd()

Returns the end position of the interpolator :rtype: rw::math::Vector3D< float > :return: The end position of the interpolator

getStart()

Returns the start position of the interpolator :rtype: rw::math::Vector3D< float > :return: The start position of the interpolator

isNull()

checks if the pointer is null :rtype: boolean :return: Returns true if the pointer is null

isShared()

check if this Ptr has shared ownership or none ownership :rtype: boolean :return: true if Ptr has shared ownership, false if it has no ownership.

property thisown

The membership flag

x(t)

class sdurw_trajectory.sdurw_trajectory.RampInterpolator_d(start, end, velLimit, accLimit)

Bases: Interpolator_d

__init__(start, end, velLimit, accLimit)

Construct RampInterpolator starting a start and finishing in end.

Parameters

• start (float) – [in] Start of interpolator

• end (float) – [in] End of interpolator

• velLimit (float) – [in] the max velocity in m/sec

• accLimit (float) – [in] the max acceleration in m/sec^2

ddx(t)

Acceleration at time t :type t: float :param t: [in] time between 0 and length :rtype: float :return: Acceleration

duration()

Returns the duration of the interpolator

The duration is defined as the time it takes to move from one end of the interpolator to the other. :rtype: float :return: duration

dx(t)

Velocity at time t :type t: float :param t: [in] time between 0 and length :rtype: float :return: Velocity

getEnd()

Returns the end rotation of the interpolator :rtype: float :return: The end rotation of the interpolator

getStart()

Returns the start rotation of the interpolator :rtype: float :return: The start rotation of the interpolator

property thisown

The membership flag

x(t)

Position at time t :type t: float :param t: [in] time between 0 and length :rtype: float :return: Position

class sdurw_trajectory.sdurw_trajectory.RampInterpolator_dCPtr(*args)

Bases: object

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

__init__(*args)

Overload 1:

Default constructor yielding a NULL-pointer.

Overload 2:

Do not take ownership of ptr.

ptr can be null.

The constructor is implicit on purpose.

ddx(t)

deref()

The pointer stored in the object.

duration()

dx(t)

getDeref()

Member access operator.

getEnd()

Returns the end rotation of the interpolator :rtype: float :return: The end rotation of the interpolator

getStart()

Returns the start rotation of the interpolator :rtype: float :return: The start rotation of the interpolator

isNull()

checks if the pointer is null :rtype: boolean :return: Returns true if the pointer is null

isShared()

check if this Ptr has shared ownership or none ownership :rtype: boolean :return: true if Ptr has shared ownership, false if it has no ownership.

property thisown

The membership flag

x(t)

class sdurw_trajectory.sdurw_trajectory.RampInterpolator_dPtr(*args)

Bases: object

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

__init__(*args)

Overload 1:

Default constructor yielding a NULL-pointer.

Overload 2:

Do not take ownership of ptr.

ptr can be null.

The constructor is implicit on purpose.

cptr()

ddx(t)

deref()

The pointer stored in the object.

duration()

dx(t)

getDeref()

Member access operator.

getEnd()

Returns the end rotation of the interpolator :rtype: float :return: The end rotation of the interpolator

getStart()

Returns the start rotation of the interpolator :rtype: float :return: The start rotation of the interpolator

isNull()

checks if the pointer is null :rtype: boolean :return: Returns true if the pointer is null

isShared()

check if this Ptr has shared ownership or none ownership :rtype: boolean :return: true if Ptr has shared ownership, false if it has no ownership.

property thisown

The membership flag

x(t)

class sdurw_trajectory.sdurw_trajectory.RampInterpolator_d_f(start, end, vellimits, acclimits, duration=-1)

Bases: Interpolator_d_f

Make a ramp interpolation between two position

The template argument given needs to support addition with the “+” operator and scaling with a double using the “*” operator.

For use with a rw::math::Transform3D see the template specialization

__init__(start, end, vellimits, acclimits, duration=-1)

Construct RampInterpolator starting at start and finishing in end with velocity limits vellimimts and acceleration limits acclimits. The duration will be calculated automatically. The start and end velocity and acceleration is zero.

If duration is not achievable given the velocity and acceleration limits then the duration will be extended. :type start: float :param start: [in] Start of interpolator :type end: float :param end: [in] End of interpolator :type vellimits: float :param vellimits: [in] velocity limits :type acclimits: float :param acclimits: [in] acceleration limits :type duration: float, optional :param duration: [in] Time it takes to from one end to the other.

ddx(t)

Acceleration at time t :type t: float :param t: [in] time between 0 and length :rtype: float :return: Acceleration

duration()

Returns the duration of the interpolator

The duration is defined as the time it takes to move from one end of the interpolator to the other. :rtype: float :return: duration

dx(t)

Velocity at time t :type t: float :param t: [in] time between 0 and length :rtype: float :return: Velocity

getEnd()

Returns the end position of the interpolator :rtype: float :return: The end position of the interpolator

getStart()

Returns the start position of the interpolator :rtype: float :return: The start position of the interpolator

property thisown

The membership flag

x(t)

Position at time t :type t: float :param t: [in] time between 0 and length :rtype: float :return: Position

class sdurw_trajectory.sdurw_trajectory.RampInterpolator_d_fCPtr(*args)

Bases: object

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

__init__(*args)

Overload 1:

Default constructor yielding a NULL-pointer.

Overload 2:

Do not take ownership of ptr.

ptr can be null.

The constructor is implicit on purpose.

ddx(t)

deref()

The pointer stored in the object.

duration()

dx(t)

getDeref()

Member access operator.

getEnd()

Returns the end position of the interpolator :rtype: float :return: The end position of the interpolator

getStart()

Returns the start position of the interpolator :rtype: float :return: The start position of the interpolator

isNull()

checks if the pointer is null :rtype: boolean :return: Returns true if the pointer is null

isShared()

check if this Ptr has shared ownership or none ownership :rtype: boolean :return: true if Ptr has shared ownership, false if it has no ownership.

property thisown

The membership flag

x(t)

class sdurw_trajectory.sdurw_trajectory.RampInterpolator_d_fPtr(*args)

Bases: object

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

__init__(*args)

Overload 1:

Default constructor yielding a NULL-pointer.

Overload 2:

Do not take ownership of ptr.

ptr can be null.

The constructor is implicit on purpose.

cptr()

ddx(t)

deref()

The pointer stored in the object.

duration()

dx(t)

getDeref()

Member access operator.

getEnd()

Returns the end position of the interpolator :rtype: float :return: The end position of the interpolator

getStart()

Returns the start position of the interpolator :rtype: float :return: The start position of the interpolator

isNull()

checks if the pointer is null :rtype: boolean :return: Returns true if the pointer is null

isShared()

check if this Ptr has shared ownership or none ownership :rtype: boolean :return: true if Ptr has shared ownership, false if it has no ownership.

property thisown

The membership flag

x(t)

class sdurw_trajectory.sdurw_trajectory.SegmentQ(*args)

Bases: object

__init__(*args)

property first

property second

property thisown

The membership flag

class sdurw_trajectory.sdurw_trajectory.SegmentQuaternion(*args)

Bases: object

__init__(*args)

property first

property second

property thisown

The membership flag

class sdurw_trajectory.sdurw_trajectory.SegmentQuaternion_f(*args)

Bases: object

__init__(*args)

property first

property second

property thisown

The membership flag

class sdurw_trajectory.sdurw_trajectory.SegmentRotation3D(*args)

Bases: object

__init__(*args)

property first

property second

property thisown

The membership flag

class sdurw_trajectory.sdurw_trajectory.SegmentRotation3D_f(*args)

Bases: object

__init__(*args)

property first

property second

property thisown

The membership flag

class sdurw_trajectory.sdurw_trajectory.SegmentTransform3D(*args)

Bases: object

__init__(*args)

property first

property second

property thisown

The membership flag

class sdurw_trajectory.sdurw_trajectory.SegmentTransform3DVector(*args)

Bases: object

__init__(*args)

property first

property second

property thisown

The membership flag

class sdurw_trajectory.sdurw_trajectory.SegmentTransform3DVector_f(*args)

Bases: object

__init__(*args)

property first

property second

property thisown

The membership flag

class sdurw_trajectory.sdurw_trajectory.SegmentTransform3D_f(*args)

Bases: object

__init__(*args)

property first

property second

property thisown

The membership flag

class sdurw_trajectory.sdurw_trajectory.SegmentVector2D(*args)

Bases: object

__init__(*args)

property first

property second

property thisown

The membership flag

class sdurw_trajectory.sdurw_trajectory.SegmentVector2D_f(*args)

Bases: object

__init__(*args)

property first

property second

property thisown

The membership flag

class sdurw_trajectory.sdurw_trajectory.SegmentVector3D(*args)

Bases: object

__init__(*args)

property first

property second

property thisown

The membership flag

class sdurw_trajectory.sdurw_trajectory.SegmentVector3D_f(*args)

Bases: object

__init__(*args)

property first

property second

property thisown

The membership flag

class sdurw_trajectory.sdurw_trajectory.Segment_d(*args)

Bases: object

__init__(*args)

property first

property second

property thisown

The membership flag

class sdurw_trajectory.sdurw_trajectory.Segment_f(*args)

Bases: object

__init__(*args)

property first

property second

property thisown

The membership flag

class sdurw_trajectory.sdurw_trajectory.TimeMetricUtil

Bases: object

methods for analyzing time distance of various paths

__init__()

property thisown

The membership flag

static timeDistance(*args)

Overload 1:

The time it takes to move from from to to in a straight line with maximum device velocities given by workcell.

Parameters

• from (State) – [in] Start state

• to (State) – [in] End state

• workcell (WorkCell) – [in] Workcell associated with the states

Return type

float

Returns

The time

Overload 2:

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 (Q) – [in] Start configuration

• to (Q) – [in] End configurationp

• velocity (Q) – [in] Max velocity of the joints

Return type

float

Returns

The time

Overload 3:

The time it takes to move from from to to in a straight line with the maximum velocities given of device.

Parameters

• from (Q) – [in] Start configuration

• to (Q) – [in] End configuration

• device (Device) – [in] The device to time for

Return type

float

Returns

The time

Overload 4:

The time it takes to move from from to to in a straight line with the maximum velocities given of device.

Parameters

• from (State) – [in] Start state

• to (State) – [in] End state

• device (Device) – [in] The device to time for

Return type

float

Returns

The time

sdurw_trajectory.sdurw_trajectory.TimeMetricUtil_timeDistance(*args)

Overload 1:

The time it takes to move from from to to in a straight line with maximum device velocities given by workcell.

Parameters

• from (State) – [in] Start state

• to (State) – [in] End state

• workcell (WorkCell) – [in] Workcell associated with the states

Return type

float

Returns

The time

Overload 2:

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 (Q) – [in] Start configuration

• to (Q) – [in] End configurationp

• velocity (Q) – [in] Max velocity of the joints

Return type

float

Returns

The time

Overload 3:

The time it takes to move from from to to in a straight line with the maximum velocities given of device.

Parameters

• from (Q) – [in] Start configuration

• to (Q) – [in] End configuration

• device (Device) – [in] The device to time for

Return type

float

Returns

The time

Overload 4:

The time it takes to move from from to to in a straight line with the maximum velocities given of device.

Parameters

• from (State) – [in] Start state

• to (State) – [in] End state

• device (Device) – [in] The device to time for

Return type

float

Returns

The time

class sdurw_trajectory.sdurw_trajectory.TimedQ(*args)

Bases: object

A tuple of (time, value).

__init__(*args)

Overload 1:

Constructor

Overload 2:

Default constructor

getTime()

The time

getValue(*args)

setTime(time)

property thisown

The membership flag

class sdurw_trajectory.sdurw_trajectory.TimedQCPtr(*args)

Bases: object

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

__init__(*args)

Overload 1:

Default constructor yielding a NULL-pointer.

Overload 2:

Do not take ownership of ptr.

ptr can be null.

The constructor is implicit on purpose.

deref()

The pointer stored in the object.

getDeref()

Member access operator.

isNull()

checks if the pointer is null :rtype: boolean :return: Returns true if the pointer is null

isShared()

check if this Ptr has shared ownership or none ownership :rtype: boolean :return: true if Ptr has shared ownership, false if it has no ownership.

property thisown

The membership flag

class sdurw_trajectory.sdurw_trajectory.TimedQPtr(*args)

Bases: object

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

__init__(*args)

Overload 1:

Default constructor yielding a NULL-pointer.

Overload 2:

Do not take ownership of ptr.

ptr can be null.

The constructor is implicit on purpose.

cptr()

deref()

The pointer stored in the object.

getDeref()

Member access operator.

getTime()

The time

getValue(*args)

isNull()

checks if the pointer is null :rtype: boolean :return: Returns true if the pointer is null

isShared()

check if this Ptr has shared ownership or none ownership :rtype: boolean :return: true if Ptr has shared ownership, false if it has no ownership.

setTime(time)

property thisown

The membership flag

sdurw_trajectory.sdurw_trajectory.TimedR1

alias of Timed_d

sdurw_trajectory.sdurw_trajectory.TimedR2

alias of TimedVector2D

sdurw_trajectory.sdurw_trajectory.TimedR3

alias of TimedVector3D

class sdurw_trajectory.sdurw_trajectory.TimedRotation3D(*args)

Bases: object

A tuple of (time, value).

__init__(*args)

Overload 1:

Constructor

Overload 2:

Default constructor

getTime()

The time

getValue(*args)

setTime(time)

property thisown

The membership flag

class sdurw_trajectory.sdurw_trajectory.TimedRotation3DCPtr(*args)

Bases: object

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

__init__(*args)

Overload 1:

Default constructor yielding a NULL-pointer.

Overload 2:

Do not take ownership of ptr.

ptr can be null.

The constructor is implicit on purpose.

deref()

The pointer stored in the object.

getDeref()

Member access operator.

isNull()

checks if the pointer is null :rtype: boolean :return: Returns true if the pointer is null

isShared()

check if this Ptr has shared ownership or none ownership :rtype: boolean :return: true if Ptr has shared ownership, false if it has no ownership.

property thisown

The membership flag

class sdurw_trajectory.sdurw_trajectory.TimedRotation3DPtr(*args)

Bases: object

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

__init__(*args)

Overload 1:

Default constructor yielding a NULL-pointer.

Overload 2:

Do not take ownership of ptr.

ptr can be null.

The constructor is implicit on purpose.

cptr()

deref()

The pointer stored in the object.

getDeref()

Member access operator.

getTime()

The time

getValue(*args)

isNull()

checks if the pointer is null :rtype: boolean :return: Returns true if the pointer is null

isShared()

check if this Ptr has shared ownership or none ownership :rtype: boolean :return: true if Ptr has shared ownership, false if it has no ownership.

setTime(time)

property thisown

The membership flag

class sdurw_trajectory.sdurw_trajectory.TimedRotation3D_f(*args)

Bases: object

A tuple of (time, value).

__init__(*args)

Overload 1:

Constructor

Overload 2:

Default constructor

getTime()

The time

getValue(*args)

setTime(time)

property thisown

The membership flag

class sdurw_trajectory.sdurw_trajectory.TimedRotation3D_fCPtr(*args)

Bases: object

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

__init__(*args)

Overload 1:

Default constructor yielding a NULL-pointer.

Overload 2:

Do not take ownership of ptr.

ptr can be null.

The constructor is implicit on purpose.

deref()

The pointer stored in the object.

getDeref()

Member access operator.

isNull()

checks if the pointer is null :rtype: boolean :return: Returns true if the pointer is null

isShared()

check if this Ptr has shared ownership or none ownership :rtype: boolean :return: true if Ptr has shared ownership, false if it has no ownership.

property thisown

The membership flag

class sdurw_trajectory.sdurw_trajectory.TimedRotation3D_fPtr(*args)

Bases: object

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

__init__(*args)

Overload 1:

Default constructor yielding a NULL-pointer.

Overload 2:

Do not take ownership of ptr.

ptr can be null.

The constructor is implicit on purpose.

cptr()

deref()

The pointer stored in the object.

getDeref()

Member access operator.

getTime()

The time

getValue(*args)

isNull()

checks if the pointer is null :rtype: boolean :return: Returns true if the pointer is null

isShared()

check if this Ptr has shared ownership or none ownership :rtype: boolean :return: true if Ptr has shared ownership, false if it has no ownership.

setTime(time)

property thisown

The membership flag

sdurw_trajectory.sdurw_trajectory.TimedSE3

alias of TimedTransform3D

sdurw_trajectory.sdurw_trajectory.TimedSO3

alias of TimedRotation3D

class sdurw_trajectory.sdurw_trajectory.TimedState(*args)

Bases: object

A tuple of (time, value).

__init__(*args)

Overload 1:

Constructor

Overload 2:

Default constructor

getTime()

The time

getValue(*args)

setTime(time)

property thisown

The membership flag

class sdurw_trajectory.sdurw_trajectory.TimedStateVector(arg1=None, arg2=None)

Bases: list

This class is deprecated and is basically a wrapper around a list

__init__(arg1=None, arg2=None)

at(i)

back()

clear()

Remove all items from list.

empty()

front()

pop_back()

push_back(elem)

size()

class sdurw_trajectory.sdurw_trajectory.TimedTransform3D(*args)

Bases: object

A tuple of (time, value).

__init__(*args)

Overload 1:

Constructor

Overload 2:

Default constructor

getTime()

The time

getValue(*args)

setTime(time)

property thisown

The membership flag

class sdurw_trajectory.sdurw_trajectory.TimedTransform3DCPtr(*args)

Bases: object

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

__init__(*args)

Overload 1:

Default constructor yielding a NULL-pointer.

Overload 2:

Do not take ownership of ptr.

ptr can be null.

The constructor is implicit on purpose.

deref()

The pointer stored in the object.

getDeref()

Member access operator.

isNull()

checks if the pointer is null :rtype: boolean :return: Returns true if the pointer is null

isShared()

check if this Ptr has shared ownership or none ownership :rtype: boolean :return: true if Ptr has shared ownership, false if it has no ownership.

property thisown

The membership flag

class sdurw_trajectory.sdurw_trajectory.TimedTransform3DPtr(*args)

Bases: object

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

__init__(*args)

Overload 1:

Default constructor yielding a NULL-pointer.

Overload 2:

Do not take ownership of ptr.

ptr can be null.

The constructor is implicit on purpose.

cptr()

deref()

The pointer stored in the object.

getDeref()

Member access operator.

getTime()

The time

getValue(*args)

isNull()

checks if the pointer is null :rtype: boolean :return: Returns true if the pointer is null

isShared()

check if this Ptr has shared ownership or none ownership :rtype: boolean :return: true if Ptr has shared ownership, false if it has no ownership.

setTime(time)

property thisown

The membership flag

class sdurw_trajectory.sdurw_trajectory.TimedTransform3D_f(*args)

Bases: object

A tuple of (time, value).

__init__(*args)

Overload 1:

Constructor

Overload 2:

Default constructor

getTime()

The time

getValue(*args)

setTime(time)

property thisown

The membership flag

class sdurw_trajectory.sdurw_trajectory.TimedTransform3D_fCPtr(*args)

Bases: object

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

__init__(*args)

Overload 1:

Default constructor yielding a NULL-pointer.

Overload 2:

Do not take ownership of ptr.

ptr can be null.

The constructor is implicit on purpose.

deref()

The pointer stored in the object.

getDeref()

Member access operator.

isNull()

checks if the pointer is null :rtype: boolean :return: Returns true if the pointer is null

isShared()

check if this Ptr has shared ownership or none ownership :rtype: boolean :return: true if Ptr has shared ownership, false if it has no ownership.

property thisown

The membership flag

class sdurw_trajectory.sdurw_trajectory.TimedTransform3D_fPtr(*args)

Bases: object

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

__init__(*args)

Overload 1:

Default constructor yielding a NULL-pointer.

Overload 2:

Do not take ownership of ptr.

ptr can be null.

The constructor is implicit on purpose.

cptr()

deref()

The pointer stored in the object.

getDeref()

Member access operator.

getTime()

The time

getValue(*args)

isNull()

checks if the pointer is null :rtype: boolean :return: Returns true if the pointer is null

isShared()

check if this Ptr has shared ownership or none ownership :rtype: boolean :return: true if Ptr has shared ownership, false if it has no ownership.

setTime(time)

property thisown

The membership flag

class sdurw_trajectory.sdurw_trajectory.TimedUtil

Bases: object

Construction of paths of Timed values.

__init__()

static makeTimedQPath(*args)

Overload 1:

A path of time stamped configurations.

The time stamp of the first configuration is offset, and the time for the remaining configurations are computed using the joint speed velocities speed.

Overload 2:

A path of time stamped configurations.

The time stamp of the first configuration is offset , and the time for the remaining configurations are computed using the joint speed velocities of device.

Overload 3:

A path of time stamped configurations.

The time stamp of the first configuration is offset , and the time for the remaining configurations are computed using the joint speed velocities of device.

static makeTimedStatePath(*args)

Overload 1:

A path of time stamped states.

The time stamp of the first state is offset, and the time for the remaining states are computed using the maximum joint speed velocities of workcell.

Overload 2:

A path of time stamped states.

The time stamp of the first state is offset, and the time for the remaining states are computed using the maximum joint speed velocities of device.

Overload 3:

A path of time stamped states.

The time stamp of the first state is offset, and the time for the remaining states are computed using the maximum joint speed velocities of device.

property thisown

The membership flag

sdurw_trajectory.sdurw_trajectory.TimedUtil_makeTimedQPath(*args)

Overload 1:

A path of time stamped configurations.

The time stamp of the first configuration is offset, and the time for the remaining configurations are computed using the joint speed velocities speed.

Overload 2:

A path of time stamped configurations.

The time stamp of the first configuration is offset , and the time for the remaining configurations are computed using the joint speed velocities of device.

Overload 3:

A path of time stamped configurations.

The time stamp of the first configuration is offset , and the time for the remaining configurations are computed using the joint speed velocities of device.

sdurw_trajectory.sdurw_trajectory.TimedUtil_makeTimedStatePath(*args)

Overload 1:

A path of time stamped states.

The time stamp of the first state is offset, and the time for the remaining states are computed using the maximum joint speed velocities of workcell.

Overload 2:

A path of time stamped states.

The time stamp of the first state is offset, and the time for the remaining states are computed using the maximum joint speed velocities of device.

Overload 3:

A path of time stamped states.

The time stamp of the first state is offset, and the time for the remaining states are computed using the maximum joint speed velocities of device.

class sdurw_trajectory.sdurw_trajectory.TimedVector2D(*args)

Bases: object

A tuple of (time, value).

__init__(*args)

Overload 1:

Constructor

Overload 2:

Default constructor

getTime()

The time

getValue(*args)

setTime(time)

property thisown

The membership flag

class sdurw_trajectory.sdurw_trajectory.TimedVector2DCPtr(*args)

Bases: object

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

__init__(*args)

Overload 1:

Default constructor yielding a NULL-pointer.

Overload 2:

Do not take ownership of ptr.

ptr can be null.

The constructor is implicit on purpose.

deref()

The pointer stored in the object.

getDeref()

Member access operator.

isNull()

checks if the pointer is null :rtype: boolean :return: Returns true if the pointer is null

isShared()

check if this Ptr has shared ownership or none ownership :rtype: boolean :return: true if Ptr has shared ownership, false if it has no ownership.

property thisown

The membership flag

class sdurw_trajectory.sdurw_trajectory.TimedVector2DPtr(*args)

Bases: object

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

__init__(*args)

Overload 1:

Default constructor yielding a NULL-pointer.

Overload 2:

Do not take ownership of ptr.

ptr can be null.

The constructor is implicit on purpose.

cptr()

deref()

The pointer stored in the object.

getDeref()

Member access operator.

getTime()

The time

getValue(*args)

isNull()

checks if the pointer is null :rtype: boolean :return: Returns true if the pointer is null

isShared()

check if this Ptr has shared ownership or none ownership :rtype: boolean :return: true if Ptr has shared ownership, false if it has no ownership.

setTime(time)

property thisown

The membership flag

class sdurw_trajectory.sdurw_trajectory.TimedVector2D_f(*args)

Bases: object

A tuple of (time, value).

__init__(*args)

Overload 1:

Constructor

Overload 2:

Default constructor

getTime()

The time

getValue(*args)

setTime(time)

property thisown

The membership flag

class sdurw_trajectory.sdurw_trajectory.TimedVector2D_fCPtr(*args)

Bases: object

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

__init__(*args)

Overload 1:

Default constructor yielding a NULL-pointer.

Overload 2:

Do not take ownership of ptr.

ptr can be null.

The constructor is implicit on purpose.

deref()

The pointer stored in the object.

getDeref()

Member access operator.

isNull()

checks if the pointer is null :rtype: boolean :return: Returns true if the pointer is null

isShared()

check if this Ptr has shared ownership or none ownership :rtype: boolean :return: true if Ptr has shared ownership, false if it has no ownership.

property thisown

The membership flag

class sdurw_trajectory.sdurw_trajectory.TimedVector2D_fPtr(*args)

Bases: object

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

__init__(*args)

Overload 1:

Default constructor yielding a NULL-pointer.

Overload 2:

Do not take ownership of ptr.

ptr can be null.

The constructor is implicit on purpose.

cptr()

deref()

The pointer stored in the object.

getDeref()

Member access operator.

getTime()

The time

getValue(*args)

isNull()

checks if the pointer is null :rtype: boolean :return: Returns true if the pointer is null

isShared()

check if this Ptr has shared ownership or none ownership :rtype: boolean :return: true if Ptr has shared ownership, false if it has no ownership.

setTime(time)

property thisown

The membership flag

class sdurw_trajectory.sdurw_trajectory.TimedVector3D(*args)

Bases: object

A tuple of (time, value).

__init__(*args)

Overload 1:

Constructor

Overload 2:

Default constructor

getTime()

The time

getValue(*args)

setTime(time)

property thisown

The membership flag

class sdurw_trajectory.sdurw_trajectory.TimedVector3DCPtr(*args)

Bases: object

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

__init__(*args)

Overload 1:

Default constructor yielding a NULL-pointer.

Overload 2:

Do not take ownership of ptr.

ptr can be null.

The constructor is implicit on purpose.

deref()

The pointer stored in the object.

getDeref()

Member access operator.

isNull()

checks if the pointer is null :rtype: boolean :return: Returns true if the pointer is null

isShared()

check if this Ptr has shared ownership or none ownership :rtype: boolean :return: true if Ptr has shared ownership, false if it has no ownership.

property thisown

The membership flag

class sdurw_trajectory.sdurw_trajectory.TimedVector3DPtr(*args)

Bases: object

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

__init__(*args)

Overload 1:

Default constructor yielding a NULL-pointer.

Overload 2:

Do not take ownership of ptr.

ptr can be null.

The constructor is implicit on purpose.

cptr()

deref()

The pointer stored in the object.

getDeref()

Member access operator.

getTime()

The time

getValue(*args)

isNull()

checks if the pointer is null :rtype: boolean :return: Returns true if the pointer is null

isShared()

check if this Ptr has shared ownership or none ownership :rtype: boolean :return: true if Ptr has shared ownership, false if it has no ownership.

setTime(time)

property thisown

The membership flag

class sdurw_trajectory.sdurw_trajectory.TimedVector3D_f(*args)

Bases: object

A tuple of (time, value).

__init__(*args)

Overload 1:

Constructor

Overload 2:

Default constructor

getTime()

The time

getValue(*args)

setTime(time)

property thisown

The membership flag

class sdurw_trajectory.sdurw_trajectory.TimedVector3D_fCPtr(*args)

Bases: object

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

__init__(*args)

Overload 1:

Default constructor yielding a NULL-pointer.

Overload 2:

Do not take ownership of ptr.

ptr can be null.

The constructor is implicit on purpose.

deref()

The pointer stored in the object.

getDeref()

Member access operator.

isNull()

checks if the pointer is null :rtype: boolean :return: Returns true if the pointer is null

isShared()

check if this Ptr has shared ownership or none ownership :rtype: boolean :return: true if Ptr has shared ownership, false if it has no ownership.

property thisown

The membership flag

class sdurw_trajectory.sdurw_trajectory.TimedVector3D_fPtr(*args)

Bases: object

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

__init__(*args)

Overload 1:

Default constructor yielding a NULL-pointer.

Overload 2:

Do not take ownership of ptr.

ptr can be null.

The constructor is implicit on purpose.

cptr()

deref()

The pointer stored in the object.

getDeref()

Member access operator.

getTime()

The time

getValue(*args)

isNull()

checks if the pointer is null :rtype: boolean :return: Returns true if the pointer is null

isShared()

check if this Ptr has shared ownership or none ownership :rtype: boolean :return: true if Ptr has shared ownership, false if it has no ownership.

setTime(time)

property thisown

The membership flag

class sdurw_trajectory.sdurw_trajectory.Timed_d(*args)

Bases: object

A tuple of (time, value).

__init__(*args)

Overload 1:

Constructor

Overload 2:

Default constructor

getTime()

The time

getValue(*args)

setTime(time)

property thisown

The membership flag

class sdurw_trajectory.sdurw_trajectory.Timed_dCPtr(*args)

Bases: object

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

__init__(*args)

Overload 1:

Default constructor yielding a NULL-pointer.

Overload 2:

Do not take ownership of ptr.

ptr can be null.

The constructor is implicit on purpose.

deref()

The pointer stored in the object.

getDeref()

Member access operator.

isNull()

checks if the pointer is null :rtype: boolean :return: Returns true if the pointer is null

isShared()

check if this Ptr has shared ownership or none ownership :rtype: boolean :return: true if Ptr has shared ownership, false if it has no ownership.

property thisown

The membership flag

class sdurw_trajectory.sdurw_trajectory.Timed_dPtr(*args)

Bases: object

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

__init__(*args)

Overload 1:

Default constructor yielding a NULL-pointer.

Overload 2:

Do not take ownership of ptr.

ptr can be null.

The constructor is implicit on purpose.

cptr()

deref()

The pointer stored in the object.

getDeref()

Member access operator.

getTime()

The time

getValue(*args)

isNull()

checks if the pointer is null :rtype: boolean :return: Returns true if the pointer is null

isShared()

check if this Ptr has shared ownership or none ownership :rtype: boolean :return: true if Ptr has shared ownership, false if it has no ownership.

setTime(time)

property thisown

The membership flag

class sdurw_trajectory.sdurw_trajectory.Timed_d_f(*args)

Bases: object

A tuple of (time, value).

__init__(*args)

Overload 1:

Constructor

Overload 2:

Default constructor

getTime()

The time

getValue(*args)

setTime(time)

property thisown

The membership flag

class sdurw_trajectory.sdurw_trajectory.Timed_d_fCPtr(*args)

Bases: object

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

__init__(*args)

Overload 1:

Default constructor yielding a NULL-pointer.

Overload 2:

Do not take ownership of ptr.

ptr can be null.

The constructor is implicit on purpose.

deref()

The pointer stored in the object.

getDeref()

Member access operator.

isNull()

checks if the pointer is null :rtype: boolean :return: Returns true if the pointer is null

isShared()

check if this Ptr has shared ownership or none ownership :rtype: boolean :return: true if Ptr has shared ownership, false if it has no ownership.

property thisown

The membership flag

class sdurw_trajectory.sdurw_trajectory.Timed_d_fPtr(*args)

Bases: object

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

__init__(*args)

Overload 1:

Default constructor yielding a NULL-pointer.

Overload 2:

Do not take ownership of ptr.

ptr can be null.

The constructor is implicit on purpose.

cptr()

deref()

The pointer stored in the object.

getDeref()

Member access operator.

getTime()

The time

getValue(*args)

isNull()

checks if the pointer is null :rtype: boolean :return: Returns true if the pointer is null

isShared()

check if this Ptr has shared ownership or none ownership :rtype: boolean :return: true if Ptr has shared ownership, false if it has no ownership.

setTime(time)

property thisown

The membership flag

class sdurw_trajectory.sdurw_trajectory.TrajectoryFactory

Bases: object

Trajectory constructors

__init__()

static makeEmptyQTrajectory()

A trajectory containing no configurations.

The end time of the trajectory is negative. Calling the get() method will throw an exception always, because the trajectory range is empty.

static makeEmptyStateTrajectory()

A trajectory containing no states.

The end time of the trajectory is negative. Calling the get() method will throw an exception always, because the trajectory range is empty.

static makeFixedTrajectory(*args)

Overload 1:

A trajectory with value state and velocity and acceleration 0. The trajectory runs from time 0 to DBL_MAX.

Overload 2:

A trajectory with a fixed value q and zero velocity and acceleration.

Parameters

• q (Q) – [in] The fixed value of the trajectory

• duration (float) – [in] The duration of the trajectory

static makeLinearTrajectory(*args)

Overload 1:

A trajectory for the path path that is linearly traversed to match the provided time values.

The path must be of length at least two.

Overload 2:

A trajectory for the straight line path path that is linearly traversed with maximum speeds of the devices of workcell.

The path must be of length at least two.

Overload 3:

A linearly traversed trajectory for the path path.

Overload 4:

A linearly traversed trajectory for the path path with time values set to match the joint velocities speed.

Overload 5:

A linearly traversed trajectory for the path path of device device with time values set to match the maximum joint velocities of the device.

Overload 6:

Constructs a linear trajectory for the path path in which the time corresponds to the length measured with metric

Overload 7:

Constructs a linear trajectory for the path path. Times represents the time for each segment

Parameters

• path (rw::trajectory::Transform3DPath) – [in] path containing poses

• times (std::vector< double >) – [in] times for each segment

Overload 8:

Constructs a linear trajectory for the path path. The metric is used to calculate the length of each segment :type path: rw::trajectory::Path< rw::math::Transform3D< double > > :param path: [in] path containing poses :type metric: rw::core::Ptr< rw::math::Metric< rw::math::Transform3D< double > > > :param metric: [in] metric for calculating length of segments

static makeLinearTrajectoryUnitStep(path)

A trajectory for the straight line path path being traversed with a time distance of 1 between adjacent states.

This function is not very useful for anything, but it happens to be used in the trajectory module test.

property thisown

The membership flag

sdurw_trajectory.sdurw_trajectory.TrajectoryFactory_makeEmptyQTrajectory()

A trajectory containing no configurations.

The end time of the trajectory is negative. Calling the get() method will throw an exception always, because the trajectory range is empty.

sdurw_trajectory.sdurw_trajectory.TrajectoryFactory_makeEmptyStateTrajectory()

A trajectory containing no states.

The end time of the trajectory is negative. Calling the get() method will throw an exception always, because the trajectory range is empty.

sdurw_trajectory.sdurw_trajectory.TrajectoryFactory_makeFixedTrajectory(*args)

Overload 1:

A trajectory with value state and velocity and acceleration 0. The trajectory runs from time 0 to DBL_MAX.

Overload 2:

A trajectory with a fixed value q and zero velocity and acceleration.

Parameters

• q (Q) – [in] The fixed value of the trajectory

• duration (float) – [in] The duration of the trajectory

sdurw_trajectory.sdurw_trajectory.TrajectoryFactory_makeLinearTrajectory(*args)

Overload 1:

A trajectory for the path path that is linearly traversed to match the provided time values.

The path must be of length at least two.

Overload 2:

A trajectory for the straight line path path that is linearly traversed with maximum speeds of the devices of workcell.

The path must be of length at least two.

Overload 3:

A linearly traversed trajectory for the path path.

Overload 4:

A linearly traversed trajectory for the path path with time values set to match the joint velocities speed.

Overload 5:

A linearly traversed trajectory for the path path of device device with time values set to match the maximum joint velocities of the device.

Overload 6:

Constructs a linear trajectory for the path path in which the time corresponds to the length measured with metric

Overload 7:

Constructs a linear trajectory for the path path. Times represents the time for each segment

Parameters

• path (rw::trajectory::Transform3DPath) – [in] path containing poses

• times (std::vector< double >) – [in] times for each segment

Overload 8:

Constructs a linear trajectory for the path path. The metric is used to calculate the length of each segment :type path: rw::trajectory::Path< rw::math::Transform3D< double > > :param path: [in] path containing poses :type metric: rw::core::Ptr< rw::math::Metric< rw::math::Transform3D< double > > > :param metric: [in] metric for calculating length of segments

sdurw_trajectory.sdurw_trajectory.TrajectoryFactory_makeLinearTrajectoryUnitStep(path)

A trajectory for the straight line path path being traversed with a time distance of 1 between adjacent states.

This function is not very useful for anything, but it happens to be used in the trajectory module test.

class sdurw_trajectory.sdurw_trajectory.TrajectoryIteratorQ(*args, **kwargs)

Bases: object

Bi-directional iterator for running efficiently through a trajectory

__init__(*args, **kwargs)

ddx()

Extracts a point of the double derivative of the trajectory at the current position in the trajectory

Return type

Q

Returns

the double derived point at the current position in the trajectory.

dec(*args)

Overload 1:

Method for decreasing the position of the iterator a fixed amount

The decrement is equal to the dt specified in the constructor.

Overload 2:

Method for decreasing the position of the iterator a fixed amount

Parameters

dt (float) – [in] Amount to decrease. A positive value is expected

dx()

Extracts a point of the derivative of the trajectory at the current position in the trajectory

Return type

Q

Returns

the derived point at the current position in the trajectory.

getTime()

Returns the current position (time) of the iterator :rtype: float :return: The current time.

inc(*args)

Overload 1:

Method for increasing the position of the iterator a fixed amount

The increment is equal to the dt specified in the constructor.

Overload 2:

Method for increasing the position of the iterator by dt

Parameters

dt (float) – [in] Amount to increase. A positive value is expected.

isBegin()

Test if the beginning of the trajectory is reached.

Return type

boolean

Returns

true if the iterator has reached the beginning of the trajectory false otherwise.

isEnd()

Test if the end of the trajectory is reached.

Return type

boolean

Returns

true if the iterator has reached the end of the trajectory false otherwise.

next(*args)

Overload 1:

Operator overloading ++ for increasing the position of the iterator.

Usage: ++iterator

The increment is equal to the dt specified in the constructor. :rtype: rw::trajectory::TrajectoryIterator< rw::math::Q > :return: Reference to the TrajectoryIterator

Overload 2:

Operator overloading ++ for increasing the position of the iterator.

Usage: iterator++

The increment is equal to the dt specified in the constructor.

point()

Extracts a point at the current position in the trajectory.

Return type

Q

Returns

the point at the current position in the trajectory.

prev(*args)

Overload 1:

Operator overloading – for decreasing the position of the iterator.

Usage: –iterator;

The decrement is equal to the dt specified in the constructor. :rtype: rw::trajectory::TrajectoryIterator< rw::math::Q > :return: Reference to the TrajectoryIterator

Overload 2:

Operator overloading – for decreasing the position of the iterator.

Usage: iterator–;

The decrement is equal to the dt specified in the constructor.

property thisown

The membership flag

x()

Extracts a point at the current position in the trajectory.

Return type

Q

Returns

the point at the current position in the trajectory.

class sdurw_trajectory.sdurw_trajectory.TrajectoryIteratorQCPtr(*args)

Bases: object

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

__init__(*args)

Overload 1:

Default constructor yielding a NULL-pointer.

Overload 2:

Do not take ownership of ptr.

ptr can be null.

The constructor is implicit on purpose.

ddx()

Extracts a point of the double derivative of the trajectory at the current position in the trajectory

Return type

Q

Returns

the double derived point at the current position in the trajectory.

deref()

The pointer stored in the object.

dx()

Extracts a point of the derivative of the trajectory at the current position in the trajectory

Return type

Q

Returns

the derived point at the current position in the trajectory.

getDeref()

Member access operator.

getTime()

Returns the current position (time) of the iterator :rtype: float :return: The current time.

isBegin()

Test if the beginning of the trajectory is reached.

Return type

boolean

Returns

true if the iterator has reached the beginning of the trajectory false otherwise.

isEnd()

Test if the end of the trajectory is reached.

Return type

boolean

Returns

true if the iterator has reached the end of the trajectory false otherwise.

isNull()

checks if the pointer is null :rtype: boolean :return: Returns true if the pointer is null

isShared()

check if this Ptr has shared ownership or none ownership :rtype: boolean :return: true if Ptr has shared ownership, false if it has no ownership.

point()

Extracts a point at the current position in the trajectory.

Return type

Q

Returns

the point at the current position in the trajectory.

property thisown

The membership flag

x()

Extracts a point at the current position in the trajectory.

Return type

Q

Returns

the point at the current position in the trajectory.

class sdurw_trajectory.sdurw_trajectory.TrajectoryIteratorQPtr(*args)

Bases: object

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

__init__(*args)

Overload 1:

Default constructor yielding a NULL-pointer.

Overload 2:

Do not take ownership of ptr.

ptr can be null.

The constructor is implicit on purpose.

cptr()

ddx()

Extracts a point of the double derivative of the trajectory at the current position in the trajectory

Return type

Q

Returns

the double derived point at the current position in the trajectory.

dec(*args)

Overload 1:

Method for decreasing the position of the iterator a fixed amount

The decrement is equal to the dt specified in the constructor.

Overload 2:

Method for decreasing the position of the iterator a fixed amount

Parameters

dt (float) – [in] Amount to decrease. A positive value is expected

deref()

The pointer stored in the object.

dx()

Extracts a point of the derivative of the trajectory at the current position in the trajectory

Return type

Q

Returns

the derived point at the current position in the trajectory.

getDeref()

Member access operator.

getTime()

Returns the current position (time) of the iterator :rtype: float :return: The current time.

inc(*args)

Overload 1:

Method for increasing the position of the iterator a fixed amount

The increment is equal to the dt specified in the constructor.

Overload 2:

Method for increasing the position of the iterator by dt

Parameters

dt (float) – [in] Amount to increase. A positive value is expected.

isBegin()

Test if the beginning of the trajectory is reached.

Return type

boolean

Returns

true if the iterator has reached the beginning of the trajectory false otherwise.

isEnd()

Test if the end of the trajectory is reached.

Return type

boolean

Returns

true if the iterator has reached the end of the trajectory false otherwise.

isNull()

checks if the pointer is null :rtype: boolean :return: Returns true if the pointer is null

isShared()

check if this Ptr has shared ownership or none ownership :rtype: boolean :return: true if Ptr has shared ownership, false if it has no ownership.

next(*args)

Overload 1:

Operator overloading ++ for increasing the position of the iterator.

Usage: ++iterator

The increment is equal to the dt specified in the constructor. :rtype: rw::trajectory::TrajectoryIterator< rw::math::Q > :return: Reference to the TrajectoryIterator

Overload 2:

Operator overloading ++ for increasing the position of the iterator.

Usage: iterator++

The increment is equal to the dt specified in the constructor.

point()

Extracts a point at the current position in the trajectory.

Return type

Q

Returns

the point at the current position in the trajectory.

prev(*args)

Overload 1:

Operator overloading – for decreasing the position of the iterator.

Usage: –iterator;

The decrement is equal to the dt specified in the constructor. :rtype: rw::trajectory::TrajectoryIterator< rw::math::Q > :return: Reference to the TrajectoryIterator

Overload 2:

Operator overloading – for decreasing the position of the iterator.

Usage: iterator–;

The decrement is equal to the dt specified in the constructor.

property thisown

The membership flag

x()

Extracts a point at the current position in the trajectory.

Return type

Q

Returns

the point at the current position in the trajectory.

sdurw_trajectory.sdurw_trajectory.TrajectoryIteratorR1

alias of TrajectoryIterator_d

sdurw_trajectory.sdurw_trajectory.TrajectoryIteratorR2

alias of TrajectoryIteratorVector2D

sdurw_trajectory.sdurw_trajectory.TrajectoryIteratorR3

alias of TrajectoryIteratorVector3D

class sdurw_trajectory.sdurw_trajectory.TrajectoryIteratorRotation3D(*args, **kwargs)

Bases: object

Bi-directional iterator for running efficiently through a trajectory

__init__(*args, **kwargs)

ddx()

Extracts a point of the double derivative of the trajectory at the current position in the trajectory

Return type

rw::math::Rotation3D< double >

Returns

the double derived point at the current position in the trajectory.

dec(*args)

Overload 1:

Method for decreasing the position of the iterator a fixed amount

The decrement is equal to the dt specified in the constructor.

Overload 2:

Method for decreasing the position of the iterator a fixed amount

Parameters

dt (float) – [in] Amount to decrease. A positive value is expected

dx()

Extracts a point of the derivative of the trajectory at the current position in the trajectory

Return type

rw::math::Rotation3D< double >

Returns

the derived point at the current position in the trajectory.

getTime()

Returns the current position (time) of the iterator :rtype: float :return: The current time.

inc(*args)

Overload 1:

Method for increasing the position of the iterator a fixed amount

The increment is equal to the dt specified in the constructor.

Overload 2:

Method for increasing the position of the iterator by dt

Parameters

dt (float) – [in] Amount to increase. A positive value is expected.

isBegin()

Test if the beginning of the trajectory is reached.

Return type

boolean

Returns

true if the iterator has reached the beginning of the trajectory false otherwise.

isEnd()

Test if the end of the trajectory is reached.

Return type

boolean

Returns

true if the iterator has reached the end of the trajectory false otherwise.

next(*args)

Overload 1:

Operator overloading ++ for increasing the position of the iterator.

Usage: ++iterator

The increment is equal to the dt specified in the constructor. :rtype: rw::trajectory::TrajectoryIterator< rw::math::Rotation3D< double > > :return: Reference to the TrajectoryIterator

Overload 2:

Operator overloading ++ for increasing the position of the iterator.

Usage: iterator++

The increment is equal to the dt specified in the constructor.

point()

Extracts a point at the current position in the trajectory.

Return type

rw::math::Rotation3D< double >

Returns

the point at the current position in the trajectory.

prev(*args)

Overload 1:

Operator overloading – for decreasing the position of the iterator.

Usage: –iterator;

The decrement is equal to the dt specified in the constructor. :rtype: rw::trajectory::TrajectoryIterator< rw::math::Rotation3D< double > > :return: Reference to the TrajectoryIterator

Overload 2:

Operator overloading – for decreasing the position of the iterator.

Usage: iterator–;

The decrement is equal to the dt specified in the constructor.

property thisown

The membership flag

x()

Extracts a point at the current position in the trajectory.

Return type

rw::math::Rotation3D< double >

Returns

the point at the current position in the trajectory.

class sdurw_trajectory.sdurw_trajectory.TrajectoryIteratorRotation3DCPtr(*args)

Bases: object

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

__init__(*args)

Overload 1:

Default constructor yielding a NULL-pointer.

Overload 2:

Do not take ownership of ptr.

ptr can be null.

The constructor is implicit on purpose.

ddx()

Extracts a point of the double derivative of the trajectory at the current position in the trajectory

Return type

rw::math::Rotation3D< double >

Returns

the double derived point at the current position in the trajectory.

deref()

The pointer stored in the object.

dx()

Extracts a point of the derivative of the trajectory at the current position in the trajectory

Return type

rw::math::Rotation3D< double >

Returns

the derived point at the current position in the trajectory.

getDeref()

Member access operator.

getTime()

Returns the current position (time) of the iterator :rtype: float :return: The current time.

isBegin()

Test if the beginning of the trajectory is reached.

Return type

boolean

Returns

true if the iterator has reached the beginning of the trajectory false otherwise.

isEnd()

Test if the end of the trajectory is reached.

Return type

boolean

Returns

true if the iterator has reached the end of the trajectory false otherwise.

isNull()

checks if the pointer is null :rtype: boolean :return: Returns true if the pointer is null

isShared()

check if this Ptr has shared ownership or none ownership :rtype: boolean :return: true if Ptr has shared ownership, false if it has no ownership.

point()

Extracts a point at the current position in the trajectory.

Return type

rw::math::Rotation3D< double >

Returns

the point at the current position in the trajectory.

property thisown

The membership flag

x()

Extracts a point at the current position in the trajectory.

Return type

rw::math::Rotation3D< double >

Returns

the point at the current position in the trajectory.

class sdurw_trajectory.sdurw_trajectory.TrajectoryIteratorRotation3DPtr(*args)

Bases: object

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

__init__(*args)

Overload 1:

Default constructor yielding a NULL-pointer.

Overload 2:

Do not take ownership of ptr.

ptr can be null.

The constructor is implicit on purpose.

cptr()

ddx()

Extracts a point of the double derivative of the trajectory at the current position in the trajectory

Return type

rw::math::Rotation3D< double >

Returns

the double derived point at the current position in the trajectory.

dec(*args)

Overload 1:

Method for decreasing the position of the iterator a fixed amount

The decrement is equal to the dt specified in the constructor.

Overload 2:

Method for decreasing the position of the iterator a fixed amount

Parameters

dt (float) – [in] Amount to decrease. A positive value is expected

deref()

The pointer stored in the object.

dx()

Extracts a point of the derivative of the trajectory at the current position in the trajectory

Return type

rw::math::Rotation3D< double >

Returns

the derived point at the current position in the trajectory.

getDeref()

Member access operator.

getTime()

Returns the current position (time) of the iterator :rtype: float :return: The current time.

inc(*args)

Overload 1:

Method for increasing the position of the iterator a fixed amount

The increment is equal to the dt specified in the constructor.

Overload 2:

Method for increasing the position of the iterator by dt

Parameters

dt (float) – [in] Amount to increase. A positive value is expected.

isBegin()

Test if the beginning of the trajectory is reached.

Return type

boolean

Returns

true if the iterator has reached the beginning of the trajectory false otherwise.

isEnd()

Test if the end of the trajectory is reached.

Return type

boolean

Returns

true if the iterator has reached the end of the trajectory false otherwise.

isNull()

checks if the pointer is null :rtype: boolean :return: Returns true if the pointer is null

isShared()

check if this Ptr has shared ownership or none ownership :rtype: boolean :return: true if Ptr has shared ownership, false if it has no ownership.

next(*args)

Overload 1:

Operator overloading ++ for increasing the position of the iterator.

Usage: ++iterator

The increment is equal to the dt specified in the constructor. :rtype: rw::trajectory::TrajectoryIterator< rw::math::Rotation3D< double > > :return: Reference to the TrajectoryIterator

Overload 2:

Operator overloading ++ for increasing the position of the iterator.

Usage: iterator++

The increment is equal to the dt specified in the constructor.

point()

Extracts a point at the current position in the trajectory.

Return type

rw::math::Rotation3D< double >

Returns

the point at the current position in the trajectory.

prev(*args)

Overload 1:

Operator overloading – for decreasing the position of the iterator.

Usage: –iterator;

The decrement is equal to the dt specified in the constructor. :rtype: rw::trajectory::TrajectoryIterator< rw::math::Rotation3D< double > > :return: Reference to the TrajectoryIterator

Overload 2:

Operator overloading – for decreasing the position of the iterator.

Usage: iterator–;

The decrement is equal to the dt specified in the constructor.

property thisown

The membership flag

x()

Extracts a point at the current position in the trajectory.

Return type

rw::math::Rotation3D< double >

Returns

the point at the current position in the trajectory.

class sdurw_trajectory.sdurw_trajectory.TrajectoryIteratorRotation3D_f(*args, **kwargs)

Bases: object

Bi-directional iterator for running efficiently through a trajectory

__init__(*args, **kwargs)

ddx()

Extracts a point of the double derivative of the trajectory at the current position in the trajectory

Return type

rw::math::Rotation3D< float >

Returns

the double derived point at the current position in the trajectory.

dec(*args)

Overload 1:

Method for decreasing the position of the iterator a fixed amount

The decrement is equal to the dt specified in the constructor.

Overload 2:

Method for decreasing the position of the iterator a fixed amount

Parameters

dt (float) – [in] Amount to decrease. A positive value is expected

dx()

Extracts a point of the derivative of the trajectory at the current position in the trajectory

Return type

rw::math::Rotation3D< float >

Returns

the derived point at the current position in the trajectory.

getTime()

Returns the current position (time) of the iterator :rtype: float :return: The current time.

inc(*args)

Overload 1:

Method for increasing the position of the iterator a fixed amount

The increment is equal to the dt specified in the constructor.

Overload 2:

Method for increasing the position of the iterator by dt

Parameters

dt (float) – [in] Amount to increase. A positive value is expected.

isBegin()

Test if the beginning of the trajectory is reached.

Return type

boolean

Returns

true if the iterator has reached the beginning of the trajectory false otherwise.

isEnd()

Test if the end of the trajectory is reached.

Return type

boolean

Returns

true if the iterator has reached the end of the trajectory false otherwise.

next(*args)

Overload 1:

Operator overloading ++ for increasing the position of the iterator.

Usage: ++iterator

The increment is equal to the dt specified in the constructor. :rtype: rw::trajectory::TrajectoryIterator< rw::math::Rotation3D< float > > :return: Reference to the TrajectoryIterator

Overload 2:

Operator overloading ++ for increasing the position of the iterator.

Usage: iterator++

The increment is equal to the dt specified in the constructor.

point()

Extracts a point at the current position in the trajectory.

Return type

rw::math::Rotation3D< float >

Returns

the point at the current position in the trajectory.

prev(*args)

Overload 1:

Operator overloading – for decreasing the position of the iterator.

Usage: –iterator;

The decrement is equal to the dt specified in the constructor. :rtype: rw::trajectory::TrajectoryIterator< rw::math::Rotation3D< float > > :return: Reference to the TrajectoryIterator

Overload 2:

Operator overloading – for decreasing the position of the iterator.

Usage: iterator–;

The decrement is equal to the dt specified in the constructor.

property thisown

The membership flag

x()

Extracts a point at the current position in the trajectory.

Return type

rw::math::Rotation3D< float >

Returns

the point at the current position in the trajectory.

class sdurw_trajectory.sdurw_trajectory.TrajectoryIteratorRotation3D_fCPtr(*args)

Bases: object

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

__init__(*args)

Overload 1:

Default constructor yielding a NULL-pointer.

Overload 2:

Do not take ownership of ptr.

ptr can be null.

The constructor is implicit on purpose.

ddx()

Extracts a point of the double derivative of the trajectory at the current position in the trajectory

Return type

rw::math::Rotation3D< float >

Returns

the double derived point at the current position in the trajectory.

deref()

The pointer stored in the object.

dx()

Extracts a point of the derivative of the trajectory at the current position in the trajectory

Return type

rw::math::Rotation3D< float >

Returns

the derived point at the current position in the trajectory.

getDeref()

Member access operator.

getTime()

Returns the current position (time) of the iterator :rtype: float :return: The current time.

isBegin()

Test if the beginning of the trajectory is reached.

Return type

boolean

Returns

true if the iterator has reached the beginning of the trajectory false otherwise.

isEnd()

Test if the end of the trajectory is reached.

Return type

boolean

Returns

true if the iterator has reached the end of the trajectory false otherwise.

isNull()

checks if the pointer is null :rtype: boolean :return: Returns true if the pointer is null

isShared()

check if this Ptr has shared ownership or none ownership :rtype: boolean :return: true if Ptr has shared ownership, false if it has no ownership.

point()

Extracts a point at the current position in the trajectory.

Return type

rw::math::Rotation3D< float >

Returns

the point at the current position in the trajectory.

property thisown

The membership flag

x()

Extracts a point at the current position in the trajectory.

Return type

rw::math::Rotation3D< float >

Returns

the point at the current position in the trajectory.

class sdurw_trajectory.sdurw_trajectory.TrajectoryIteratorRotation3D_fPtr(*args)

Bases: object

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

__init__(*args)

Overload 1:

Default constructor yielding a NULL-pointer.

Overload 2:

Do not take ownership of ptr.

ptr can be null.

The constructor is implicit on purpose.

cptr()

ddx()

Extracts a point of the double derivative of the trajectory at the current position in the trajectory

Return type

rw::math::Rotation3D< float >

Returns

the double derived point at the current position in the trajectory.

dec(*args)

Overload 1:

Method for decreasing the position of the iterator a fixed amount

The decrement is equal to the dt specified in the constructor.

Overload 2:

Method for decreasing the position of the iterator a fixed amount

Parameters

dt (float) – [in] Amount to decrease. A positive value is expected

deref()

The pointer stored in the object.

dx()

Extracts a point of the derivative of the trajectory at the current position in the trajectory

Return type

rw::math::Rotation3D< float >

Returns

the derived point at the current position in the trajectory.

getDeref()

Member access operator.

getTime()

Returns the current position (time) of the iterator :rtype: float :return: The current time.

inc(*args)

Overload 1:

Method for increasing the position of the iterator a fixed amount

The increment is equal to the dt specified in the constructor.

Overload 2:

Method for increasing the position of the iterator by dt

Parameters

dt (float) – [in] Amount to increase. A positive value is expected.

isBegin()

Test if the beginning of the trajectory is reached.

Return type

boolean

Returns

true if the iterator has reached the beginning of the trajectory false otherwise.

isEnd()

Test if the end of the trajectory is reached.

Return type

boolean

Returns

true if the iterator has reached the end of the trajectory false otherwise.

isNull()

checks if the pointer is null :rtype: boolean :return: Returns true if the pointer is null

isShared()

check if this Ptr has shared ownership or none ownership :rtype: boolean :return: true if Ptr has shared ownership, false if it has no ownership.

next(*args)

Overload 1:

Operator overloading ++ for increasing the position of the iterator.

Usage: ++iterator

The increment is equal to the dt specified in the constructor. :rtype: rw::trajectory::TrajectoryIterator< rw::math::Rotation3D< float > > :return: Reference to the TrajectoryIterator

Overload 2:

Operator overloading ++ for increasing the position of the iterator.

Usage: iterator++

The increment is equal to the dt specified in the constructor.

point()

Extracts a point at the current position in the trajectory.

Return type

rw::math::Rotation3D< float >

Returns

the point at the current position in the trajectory.

prev(*args)

Overload 1:

Operator overloading – for decreasing the position of the iterator.

Usage: –iterator;

The decrement is equal to the dt specified in the constructor. :rtype: rw::trajectory::TrajectoryIterator< rw::math::Rotation3D< float > > :return: Reference to the TrajectoryIterator

Overload 2:

Operator overloading – for decreasing the position of the iterator.

Usage: iterator–;

The decrement is equal to the dt specified in the constructor.

property thisown

The membership flag

x()

Extracts a point at the current position in the trajectory.

Return type

rw::math::Rotation3D< float >

Returns

the point at the current position in the trajectory.

sdurw_trajectory.sdurw_trajectory.TrajectoryIteratorSE3

alias of TrajectoryIteratorTransform3D

sdurw_trajectory.sdurw_trajectory.TrajectoryIteratorSO3

alias of TrajectoryIteratorRotation3D

class sdurw_trajectory.sdurw_trajectory.TrajectoryIteratorTransform3D(*args, **kwargs)

Bases: object

Bi-directional iterator for running efficiently through a trajectory

__init__(*args, **kwargs)

ddx()

Extracts a point of the double derivative of the trajectory at the current position in the trajectory

Return type

rw::math::Transform3D< double >

Returns

the double derived point at the current position in the trajectory.

dec(*args)

Overload 1:

Method for decreasing the position of the iterator a fixed amount

The decrement is equal to the dt specified in the constructor.

Overload 2:

Method for decreasing the position of the iterator a fixed amount

Parameters

dt (float) – [in] Amount to decrease. A positive value is expected

dx()

Extracts a point of the derivative of the trajectory at the current position in the trajectory

Return type

rw::math::Transform3D< double >

Returns

the derived point at the current position in the trajectory.

getTime()

Returns the current position (time) of the iterator :rtype: float :return: The current time.

inc(*args)

Overload 1:

Method for increasing the position of the iterator a fixed amount

The increment is equal to the dt specified in the constructor.

Overload 2:

Method for increasing the position of the iterator by dt

Parameters

dt (float) – [in] Amount to increase. A positive value is expected.

isBegin()

Test if the beginning of the trajectory is reached.

Return type

boolean

Returns

true if the iterator has reached the beginning of the trajectory false otherwise.

isEnd()

Test if the end of the trajectory is reached.

Return type

boolean

Returns

true if the iterator has reached the end of the trajectory false otherwise.

next(*args)

Overload 1:

Operator overloading ++ for increasing the position of the iterator.

Usage: ++iterator

The increment is equal to the dt specified in the constructor. :rtype: rw::trajectory::TrajectoryIterator< rw::math::Transform3D< double > > :return: Reference to the TrajectoryIterator

Overload 2:

Operator overloading ++ for increasing the position of the iterator.

Usage: iterator++

The increment is equal to the dt specified in the constructor.

point()

Extracts a point at the current position in the trajectory.

Return type

rw::math::Transform3D< double >

Returns

the point at the current position in the trajectory.

prev(*args)

Overload 1:

Operator overloading – for decreasing the position of the iterator.

Usage: –iterator;

The decrement is equal to the dt specified in the constructor. :rtype: rw::trajectory::TrajectoryIterator< rw::math::Transform3D< double > > :return: Reference to the TrajectoryIterator

Overload 2:

Operator overloading – for decreasing the position of the iterator.

Usage: iterator–;

The decrement is equal to the dt specified in the constructor.

property thisown

The membership flag

x()

Extracts a point at the current position in the trajectory.

Return type

rw::math::Transform3D< double >

Returns

the point at the current position in the trajectory.

class sdurw_trajectory.sdurw_trajectory.TrajectoryIteratorTransform3DCPtr(*args)

Bases: object

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

__init__(*args)

Overload 1:

Default constructor yielding a NULL-pointer.

Overload 2:

Do not take ownership of ptr.

ptr can be null.

The constructor is implicit on purpose.

ddx()

Extracts a point of the double derivative of the trajectory at the current position in the trajectory

Return type

rw::math::Transform3D< double >

Returns

the double derived point at the current position in the trajectory.

deref()

The pointer stored in the object.

dx()

Extracts a point of the derivative of the trajectory at the current position in the trajectory

Return type

rw::math::Transform3D< double >

Returns

the derived point at the current position in the trajectory.

getDeref()

Member access operator.

getTime()

Returns the current position (time) of the iterator :rtype: float :return: The current time.

isBegin()

Test if the beginning of the trajectory is reached.

Return type

boolean

Returns

true if the iterator has reached the beginning of the trajectory false otherwise.

isEnd()

Test if the end of the trajectory is reached.

Return type

boolean

Returns

true if the iterator has reached the end of the trajectory false otherwise.

isNull()

checks if the pointer is null :rtype: boolean :return: Returns true if the pointer is null

isShared()

check if this Ptr has shared ownership or none ownership :rtype: boolean :return: true if Ptr has shared ownership, false if it has no ownership.

point()

Extracts a point at the current position in the trajectory.

Return type

rw::math::Transform3D< double >

Returns

the point at the current position in the trajectory.

property thisown

The membership flag

x()

Extracts a point at the current position in the trajectory.

Return type

rw::math::Transform3D< double >

Returns

the point at the current position in the trajectory.

class sdurw_trajectory.sdurw_trajectory.TrajectoryIteratorTransform3DPtr(*args)

Bases: object

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

__init__(*args)

Overload 1:

Default constructor yielding a NULL-pointer.

Overload 2:

Do not take ownership of ptr.

ptr can be null.

The constructor is implicit on purpose.

cptr()

ddx()

Extracts a point of the double derivative of the trajectory at the current position in the trajectory

Return type

rw::math::Transform3D< double >

Returns

the double derived point at the current position in the trajectory.

dec(*args)

Overload 1:

Method for decreasing the position of the iterator a fixed amount

The decrement is equal to the dt specified in the constructor.

Overload 2:

Method for decreasing the position of the iterator a fixed amount

Parameters

dt (float) – [in] Amount to decrease. A positive value is expected

deref()

The pointer stored in the object.

dx()

Extracts a point of the derivative of the trajectory at the current position in the trajectory

Return type

rw::math::Transform3D< double >

Returns

the derived point at the current position in the trajectory.

getDeref()

Member access operator.

getTime()

Returns the current position (time) of the iterator :rtype: float :return: The current time.

inc(*args)

Overload 1:

Method for increasing the position of the iterator a fixed amount

The increment is equal to the dt specified in the constructor.

Overload 2:

Method for increasing the position of the iterator by dt

Parameters

dt (float) – [in] Amount to increase. A positive value is expected.

isBegin()

Test if the beginning of the trajectory is reached.

Return type

boolean

Returns

true if the iterator has reached the beginning of the trajectory false otherwise.

isEnd()

Test if the end of the trajectory is reached.

Return type

boolean

Returns

true if the iterator has reached the end of the trajectory false otherwise.

isNull()

checks if the pointer is null :rtype: boolean :return: Returns true if the pointer is null

isShared()

check if this Ptr has shared ownership or none ownership :rtype: boolean :return: true if Ptr has shared ownership, false if it has no ownership.

next(*args)

Overload 1:

Operator overloading ++ for increasing the position of the iterator.

Usage: ++iterator

The increment is equal to the dt specified in the constructor. :rtype: rw::trajectory::TrajectoryIterator< rw::math::Transform3D< double > > :return: Reference to the TrajectoryIterator

Overload 2:

Operator overloading ++ for increasing the position of the iterator.

Usage: iterator++

The increment is equal to the dt specified in the constructor.

point()

Extracts a point at the current position in the trajectory.

Return type

rw::math::Transform3D< double >

Returns

the point at the current position in the trajectory.

prev(*args)

Overload 1:

Operator overloading – for decreasing the position of the iterator.

Usage: –iterator;

The decrement is equal to the dt specified in the constructor. :rtype: rw::trajectory::TrajectoryIterator< rw::math::Transform3D< double > > :return: Reference to the TrajectoryIterator

Overload 2:

Operator overloading – for decreasing the position of the iterator.

Usage: iterator–;

The decrement is equal to the dt specified in the constructor.

property thisown

The membership flag

x()

Extracts a point at the current position in the trajectory.

Return type

rw::math::Transform3D< double >

Returns

the point at the current position in the trajectory.

class sdurw_trajectory.sdurw_trajectory.TrajectoryIteratorTransform3D_f(*args, **kwargs)

Bases: object

Bi-directional iterator for running efficiently through a trajectory

__init__(*args, **kwargs)

ddx()

Extracts a point of the double derivative of the trajectory at the current position in the trajectory

Return type

rw::math::Transform3D< float >

Returns

the double derived point at the current position in the trajectory.

dec(*args)

Overload 1:

Method for decreasing the position of the iterator a fixed amount

The decrement is equal to the dt specified in the constructor.

Overload 2:

Method for decreasing the position of the iterator a fixed amount

Parameters

dt (float) – [in] Amount to decrease. A positive value is expected

dx()

Extracts a point of the derivative of the trajectory at the current position in the trajectory

Return type

rw::math::Transform3D< float >

Returns

the derived point at the current position in the trajectory.

getTime()

Returns the current position (time) of the iterator :rtype: float :return: The current time.

inc(*args)

Overload 1:

Method for increasing the position of the iterator a fixed amount

The increment is equal to the dt specified in the constructor.

Overload 2:

Method for increasing the position of the iterator by dt

Parameters

dt (float) – [in] Amount to increase. A positive value is expected.

isBegin()

Test if the beginning of the trajectory is reached.

Return type

boolean

Returns

true if the iterator has reached the beginning of the trajectory false otherwise.

isEnd()

Test if the end of the trajectory is reached.

Return type

boolean

Returns

true if the iterator has reached the end of the trajectory false otherwise.

next(*args)

Overload 1:

Operator overloading ++ for increasing the position of the iterator.

Usage: ++iterator

The increment is equal to the dt specified in the constructor. :rtype: rw::trajectory::TrajectoryIterator< rw::math::Transform3D< float > > :return: Reference to the TrajectoryIterator

Overload 2:

Operator overloading ++ for increasing the position of the iterator.

Usage: iterator++

The increment is equal to the dt specified in the constructor.

point()

Extracts a point at the current position in the trajectory.

Return type

rw::math::Transform3D< float >

Returns

the point at the current position in the trajectory.

prev(*args)

Overload 1:

Operator overloading – for decreasing the position of the iterator.

Usage: –iterator;

The decrement is equal to the dt specified in the constructor. :rtype: rw::trajectory::TrajectoryIterator< rw::math::Transform3D< float > > :return: Reference to the TrajectoryIterator

Overload 2:

Operator overloading – for decreasing the position of the iterator.

Usage: iterator–;

The decrement is equal to the dt specified in the constructor.

property thisown

The membership flag

x()

Extracts a point at the current position in the trajectory.

Return type

rw::math::Transform3D< float >

Returns

the point at the current position in the trajectory.

class sdurw_trajectory.sdurw_trajectory.TrajectoryIteratorTransform3D_fCPtr(*args)

Bases: object

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

__init__(*args)

Overload 1:

Default constructor yielding a NULL-pointer.

Overload 2:

Do not take ownership of ptr.

ptr can be null.

The constructor is implicit on purpose.

ddx()

Extracts a point of the double derivative of the trajectory at the current position in the trajectory

Return type

rw::math::Transform3D< float >

Returns

the double derived point at the current position in the trajectory.

deref()

The pointer stored in the object.

dx()

Extracts a point of the derivative of the trajectory at the current position in the trajectory

Return type

rw::math::Transform3D< float >

Returns

the derived point at the current position in the trajectory.

getDeref()

Member access operator.

getTime()

Returns the current position (time) of the iterator :rtype: float :return: The current time.

isBegin()

Test if the beginning of the trajectory is reached.

Return type

boolean

Returns

true if the iterator has reached the beginning of the trajectory false otherwise.

isEnd()

Test if the end of the trajectory is reached.

Return type

boolean

Returns

true if the iterator has reached the end of the trajectory false otherwise.

isNull()

checks if the pointer is null :rtype: boolean :return: Returns true if the pointer is null

isShared()

check if this Ptr has shared ownership or none ownership :rtype: boolean :return: true if Ptr has shared ownership, false if it has no ownership.

point()

Extracts a point at the current position in the trajectory.

Return type

rw::math::Transform3D< float >

Returns

the point at the current position in the trajectory.

property thisown

The membership flag

x()

Extracts a point at the current position in the trajectory.

Return type

rw::math::Transform3D< float >

Returns

the point at the current position in the trajectory.

class sdurw_trajectory.sdurw_trajectory.TrajectoryIteratorTransform3D_fPtr(*args)

Bases: object

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

__init__(*args)

Overload 1:

Default constructor yielding a NULL-pointer.

Overload 2:

Do not take ownership of ptr.

ptr can be null.

The constructor is implicit on purpose.

cptr()

ddx()

Extracts a point of the double derivative of the trajectory at the current position in the trajectory

Return type

rw::math::Transform3D< float >

Returns

the double derived point at the current position in the trajectory.

dec(*args)

Overload 1:

Method for decreasing the position of the iterator a fixed amount

The decrement is equal to the dt specified in the constructor.

Overload 2:

Method for decreasing the position of the iterator a fixed amount

Parameters

dt (float) – [in] Amount to decrease. A positive value is expected

deref()

The pointer stored in the object.

dx()

Extracts a point of the derivative of the trajectory at the current position in the trajectory

Return type

rw::math::Transform3D< float >

Returns

the derived point at the current position in the trajectory.

getDeref()

Member access operator.

getTime()

Returns the current position (time) of the iterator :rtype: float :return: The current time.

inc(*args)

Overload 1:

Method for increasing the position of the iterator a fixed amount

The increment is equal to the dt specified in the constructor.

Overload 2:

Method for increasing the position of the iterator by dt

Parameters

dt (float) – [in] Amount to increase. A positive value is expected.

isBegin()

Test if the beginning of the trajectory is reached.

Return type

boolean

Returns

true if the iterator has reached the beginning of the trajectory false otherwise.

isEnd()

Test if the end of the trajectory is reached.

Return type

boolean

Returns

true if the iterator has reached the end of the trajectory false otherwise.

isNull()

checks if the pointer is null :rtype: boolean :return: Returns true if the pointer is null

isShared()

check if this Ptr has shared ownership or none ownership :rtype: boolean :return: true if Ptr has shared ownership, false if it has no ownership.

next(*args)

Overload 1:

Operator overloading ++ for increasing the position of the iterator.

Usage: ++iterator

The increment is equal to the dt specified in the constructor. :rtype: rw::trajectory::TrajectoryIterator< rw::math::Transform3D< float > > :return: Reference to the TrajectoryIterator

Overload 2:

Operator overloading ++ for increasing the position of the iterator.

Usage: iterator++

The increment is equal to the dt specified in the constructor.

point()

Extracts a point at the current position in the trajectory.

Return type

rw::math::Transform3D< float >

Returns

the point at the current position in the trajectory.

prev(*args)

Overload 1:

Operator overloading – for decreasing the position of the iterator.

Usage: –iterator;

The decrement is equal to the dt specified in the constructor. :rtype: rw::trajectory::TrajectoryIterator< rw::math::Transform3D< float > > :return: Reference to the TrajectoryIterator

Overload 2:

Operator overloading – for decreasing the position of the iterator.

Usage: iterator–;

The decrement is equal to the dt specified in the constructor.

property thisown

The membership flag

x()

Extracts a point at the current position in the trajectory.

Return type

rw::math::Transform3D< float >

Returns

the point at the current position in the trajectory.

class sdurw_trajectory.sdurw_trajectory.TrajectoryIteratorVector2D(*args, **kwargs)

Bases: object

Bi-directional iterator for running efficiently through a trajectory

__init__(*args, **kwargs)

ddx()

Extracts a point of the double derivative of the trajectory at the current position in the trajectory

Return type

rw::math::Vector2D< double >

Returns

the double derived point at the current position in the trajectory.

dec(*args)

Overload 1:

Method for decreasing the position of the iterator a fixed amount

The decrement is equal to the dt specified in the constructor.

Overload 2:

Method for decreasing the position of the iterator a fixed amount

Parameters

dt (float) – [in] Amount to decrease. A positive value is expected

dx()

Extracts a point of the derivative of the trajectory at the current position in the trajectory

Return type

rw::math::Vector2D< double >

Returns

the derived point at the current position in the trajectory.

getTime()

Returns the current position (time) of the iterator :rtype: float :return: The current time.

inc(*args)

Overload 1:

Method for increasing the position of the iterator a fixed amount

The increment is equal to the dt specified in the constructor.

Overload 2:

Method for increasing the position of the iterator by dt

Parameters

dt (float) – [in] Amount to increase. A positive value is expected.

isBegin()

Test if the beginning of the trajectory is reached.

Return type

boolean

Returns

true if the iterator has reached the beginning of the trajectory false otherwise.

isEnd()

Test if the end of the trajectory is reached.

Return type

boolean

Returns

true if the iterator has reached the end of the trajectory false otherwise.

next(*args)

Overload 1:

Operator overloading ++ for increasing the position of the iterator.

Usage: ++iterator

The increment is equal to the dt specified in the constructor. :rtype: rw::trajectory::TrajectoryIterator< rw::math::Vector2D< double > > :return: Reference to the TrajectoryIterator

Overload 2:

Operator overloading ++ for increasing the position of the iterator.

Usage: iterator++

The increment is equal to the dt specified in the constructor.

point()

Extracts a point at the current position in the trajectory.

Return type

rw::math::Vector2D< double >

Returns

the point at the current position in the trajectory.

prev(*args)

Overload 1:

Operator overloading – for decreasing the position of the iterator.

Usage: –iterator;

The decrement is equal to the dt specified in the constructor. :rtype: rw::trajectory::TrajectoryIterator< rw::math::Vector2D< double > > :return: Reference to the TrajectoryIterator

Overload 2:

Operator overloading – for decreasing the position of the iterator.

Usage: iterator–;

The decrement is equal to the dt specified in the constructor.

property thisown

The membership flag

x()

Extracts a point at the current position in the trajectory.

Return type

rw::math::Vector2D< double >

Returns

the point at the current position in the trajectory.

class sdurw_trajectory.sdurw_trajectory.TrajectoryIteratorVector2DCPtr(*args)

Bases: object

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

__init__(*args)

Overload 1:

Default constructor yielding a NULL-pointer.

Overload 2:

Do not take ownership of ptr.

ptr can be null.

The constructor is implicit on purpose.

ddx()

Extracts a point of the double derivative of the trajectory at the current position in the trajectory

Return type

rw::math::Vector2D< double >

Returns

the double derived point at the current position in the trajectory.

deref()

The pointer stored in the object.

dx()

Extracts a point of the derivative of the trajectory at the current position in the trajectory

Return type

rw::math::Vector2D< double >

Returns

the derived point at the current position in the trajectory.

getDeref()

Member access operator.

getTime()

Returns the current position (time) of the iterator :rtype: float :return: The current time.

isBegin()

Test if the beginning of the trajectory is reached.

Return type

boolean

Returns

true if the iterator has reached the beginning of the trajectory false otherwise.

isEnd()

Test if the end of the trajectory is reached.

Return type

boolean

Returns

true if the iterator has reached the end of the trajectory false otherwise.

isNull()

checks if the pointer is null :rtype: boolean :return: Returns true if the pointer is null

isShared()

check if this Ptr has shared ownership or none ownership :rtype: boolean :return: true if Ptr has shared ownership, false if it has no ownership.

point()

Extracts a point at the current position in the trajectory.

Return type

rw::math::Vector2D< double >

Returns

the point at the current position in the trajectory.

property thisown

The membership flag

x()

Extracts a point at the current position in the trajectory.

Return type

rw::math::Vector2D< double >

Returns

the point at the current position in the trajectory.

class sdurw_trajectory.sdurw_trajectory.TrajectoryIteratorVector2DPtr(*args)

Bases: object

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

__init__(*args)

Overload 1:

Default constructor yielding a NULL-pointer.

Overload 2:

Do not take ownership of ptr.

ptr can be null.

The constructor is implicit on purpose.

cptr()

ddx()

Extracts a point of the double derivative of the trajectory at the current position in the trajectory

Return type

rw::math::Vector2D< double >

Returns

the double derived point at the current position in the trajectory.

dec(*args)

Overload 1:

Method for decreasing the position of the iterator a fixed amount

The decrement is equal to the dt specified in the constructor.

Overload 2:

Method for decreasing the position of the iterator a fixed amount

Parameters

dt (float) – [in] Amount to decrease. A positive value is expected

deref()

The pointer stored in the object.

dx()

Extracts a point of the derivative of the trajectory at the current position in the trajectory

Return type

rw::math::Vector2D< double >

Returns

the derived point at the current position in the trajectory.

getDeref()

Member access operator.

getTime()

Returns the current position (time) of the iterator :rtype: float :return: The current time.

inc(*args)

Overload 1:

Method for increasing the position of the iterator a fixed amount

The increment is equal to the dt specified in the constructor.

Overload 2:

Method for increasing the position of the iterator by dt

Parameters

dt (float) – [in] Amount to increase. A positive value is expected.

isBegin()

Test if the beginning of the trajectory is reached.

Return type

boolean

Returns

true if the iterator has reached the beginning of the trajectory false otherwise.

isEnd()

Test if the end of the trajectory is reached.

Return type

boolean

Returns

true if the iterator has reached the end of the trajectory false otherwise.

isNull()

checks if the pointer is null :rtype: boolean :return: Returns true if the pointer is null

isShared()

check if this Ptr has shared ownership or none ownership :rtype: boolean :return: true if Ptr has shared ownership, false if it has no ownership.

next(*args)

Overload 1:

Operator overloading ++ for increasing the position of the iterator.

Usage: ++iterator

The increment is equal to the dt specified in the constructor. :rtype: rw::trajectory::TrajectoryIterator< rw::math::Vector2D< double > > :return: Reference to the TrajectoryIterator

Overload 2:

Operator overloading ++ for increasing the position of the iterator.

Usage: iterator++

The increment is equal to the dt specified in the constructor.

point()

Extracts a point at the current position in the trajectory.

Return type

rw::math::Vector2D< double >

Returns

the point at the current position in the trajectory.

prev(*args)

Overload 1:

Operator overloading – for decreasing the position of the iterator.

Usage: –iterator;

The decrement is equal to the dt specified in the constructor. :rtype: rw::trajectory::TrajectoryIterator< rw::math::Vector2D< double > > :return: Reference to the TrajectoryIterator

Overload 2:

Operator overloading – for decreasing the position of the iterator.

Usage: iterator–;

The decrement is equal to the dt specified in the constructor.

property thisown

The membership flag

x()

Extracts a point at the current position in the trajectory.

Return type

rw::math::Vector2D< double >

Returns

the point at the current position in the trajectory.

class sdurw_trajectory.sdurw_trajectory.TrajectoryIteratorVector2D_f(*args, **kwargs)

Bases: object

Bi-directional iterator for running efficiently through a trajectory

__init__(*args, **kwargs)

ddx()

Extracts a point of the double derivative of the trajectory at the current position in the trajectory

Return type

rw::math::Vector2D< float >

Returns

the double derived point at the current position in the trajectory.

dec(*args)

Overload 1:

Method for decreasing the position of the iterator a fixed amount

The decrement is equal to the dt specified in the constructor.

Overload 2:

Method for decreasing the position of the iterator a fixed amount

Parameters

dt (float) – [in] Amount to decrease. A positive value is expected

dx()

Extracts a point of the derivative of the trajectory at the current position in the trajectory

Return type

rw::math::Vector2D< float >

Returns

the derived point at the current position in the trajectory.

getTime()

Returns the current position (time) of the iterator :rtype: float :return: The current time.

inc(*args)

Overload 1:

Method for increasing the position of the iterator a fixed amount

The increment is equal to the dt specified in the constructor.

Overload 2:

Method for increasing the position of the iterator by dt

Parameters

dt (float) – [in] Amount to increase. A positive value is expected.

isBegin()

Test if the beginning of the trajectory is reached.

Return type

boolean

Returns

true if the iterator has reached the beginning of the trajectory false otherwise.

isEnd()

Test if the end of the trajectory is reached.

Return type

boolean

Returns

true if the iterator has reached the end of the trajectory false otherwise.

next(*args)

Overload 1:

Operator overloading ++ for increasing the position of the iterator.

Usage: ++iterator

The increment is equal to the dt specified in the constructor. :rtype: rw::trajectory::TrajectoryIterator< rw::math::Vector2D< float > > :return: Reference to the TrajectoryIterator

Overload 2:

Operator overloading ++ for increasing the position of the iterator.

Usage: iterator++

The increment is equal to the dt specified in the constructor.

point()

Extracts a point at the current position in the trajectory.

Return type

rw::math::Vector2D< float >

Returns

the point at the current position in the trajectory.

prev(*args)

Overload 1:

Operator overloading – for decreasing the position of the iterator.

Usage: –iterator;

The decrement is equal to the dt specified in the constructor. :rtype: rw::trajectory::TrajectoryIterator< rw::math::Vector2D< float > > :return: Reference to the TrajectoryIterator

Overload 2:

Operator overloading – for decreasing the position of the iterator.

Usage: iterator–;

The decrement is equal to the dt specified in the constructor.

property thisown

The membership flag

x()

Extracts a point at the current position in the trajectory.

Return type

rw::math::Vector2D< float >

Returns

the point at the current position in the trajectory.

class sdurw_trajectory.sdurw_trajectory.TrajectoryIteratorVector2D_fCPtr(*args)

Bases: object

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

__init__(*args)

Overload 1:

Default constructor yielding a NULL-pointer.

Overload 2:

Do not take ownership of ptr.

ptr can be null.

The constructor is implicit on purpose.

ddx()

Extracts a point of the double derivative of the trajectory at the current position in the trajectory

Return type

rw::math::Vector2D< float >

Returns

the double derived point at the current position in the trajectory.

deref()

The pointer stored in the object.

dx()

Extracts a point of the derivative of the trajectory at the current position in the trajectory

Return type

rw::math::Vector2D< float >

Returns

the derived point at the current position in the trajectory.

getDeref()

Member access operator.

getTime()

Returns the current position (time) of the iterator :rtype: float :return: The current time.

isBegin()

Test if the beginning of the trajectory is reached.

Return type

boolean

Returns

true if the iterator has reached the beginning of the trajectory false otherwise.

isEnd()

Test if the end of the trajectory is reached.

Return type

boolean

Returns

true if the iterator has reached the end of the trajectory false otherwise.

isNull()

checks if the pointer is null :rtype: boolean :return: Returns true if the pointer is null

isShared()

check if this Ptr has shared ownership or none ownership :rtype: boolean :return: true if Ptr has shared ownership, false if it has no ownership.

point()

Extracts a point at the current position in the trajectory.

Return type

rw::math::Vector2D< float >

Returns

the point at the current position in the trajectory.

property thisown

The membership flag

x()

Extracts a point at the current position in the trajectory.

Return type

rw::math::Vector2D< float >

Returns

the point at the current position in the trajectory.

class sdurw_trajectory.sdurw_trajectory.TrajectoryIteratorVector2D_fPtr(*args)

Bases: object

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

__init__(*args)

Overload 1:

Default constructor yielding a NULL-pointer.

Overload 2:

Do not take ownership of ptr.

ptr can be null.

The constructor is implicit on purpose.

cptr()

ddx()

Extracts a point of the double derivative of the trajectory at the current position in the trajectory

Return type

rw::math::Vector2D< float >

Returns

the double derived point at the current position in the trajectory.

dec(*args)

Overload 1:

Method for decreasing the position of the iterator a fixed amount

The decrement is equal to the dt specified in the constructor.

Overload 2:

Method for decreasing the position of the iterator a fixed amount

Parameters

dt (float) – [in] Amount to decrease. A positive value is expected

deref()

The pointer stored in the object.

dx()

Extracts a point of the derivative of the trajectory at the current position in the trajectory

Return type

rw::math::Vector2D< float >

Returns

the derived point at the current position in the trajectory.

getDeref()

Member access operator.

getTime()

Returns the current position (time) of the iterator :rtype: float :return: The current time.

inc(*args)

Overload 1:

Method for increasing the position of the iterator a fixed amount

The increment is equal to the dt specified in the constructor.

Overload 2:

Method for increasing the position of the iterator by dt

Parameters

dt (float) – [in] Amount to increase. A positive value is expected.

isBegin()

Test if the beginning of the trajectory is reached.

Return type

boolean

Returns

true if the iterator has reached the beginning of the trajectory false otherwise.

isEnd()

Test if the end of the trajectory is reached.

Return type

boolean

Returns

true if the iterator has reached the end of the trajectory false otherwise.

isNull()

checks if the pointer is null :rtype: boolean :return: Returns true if the pointer is null

isShared()

check if this Ptr has shared ownership or none ownership :rtype: boolean :return: true if Ptr has shared ownership, false if it has no ownership.

next(*args)

Overload 1:

Operator overloading ++ for increasing the position of the iterator.

Usage: ++iterator

The increment is equal to the dt specified in the constructor. :rtype: rw::trajectory::TrajectoryIterator< rw::math::Vector2D< float > > :return: Reference to the TrajectoryIterator

Overload 2:

Operator overloading ++ for increasing the position of the iterator.

Usage: iterator++

The increment is equal to the dt specified in the constructor.

point()

Extracts a point at the current position in the trajectory.

Return type

rw::math::Vector2D< float >

Returns

the point at the current position in the trajectory.

prev(*args)

Overload 1:

Operator overloading – for decreasing the position of the iterator.

Usage: –iterator;

The decrement is equal to the dt specified in the constructor. :rtype: rw::trajectory::TrajectoryIterator< rw::math::Vector2D< float > > :return: Reference to the TrajectoryIterator

Overload 2:

Operator overloading – for decreasing the position of the iterator.

Usage: iterator–;

The decrement is equal to the dt specified in the constructor.

property thisown

The membership flag

x()

Extracts a point at the current position in the trajectory.

Return type

rw::math::Vector2D< float >

Returns

the point at the current position in the trajectory.

class sdurw_trajectory.sdurw_trajectory.TrajectoryIteratorVector3D(*args, **kwargs)

Bases: object

Bi-directional iterator for running efficiently through a trajectory

__init__(*args, **kwargs)

ddx()

Extracts a point of the double derivative of the trajectory at the current position in the trajectory

Return type

rw::math::Vector3D< double >

Returns

the double derived point at the current position in the trajectory.

dec(*args)

Overload 1:

Method for decreasing the position of the iterator a fixed amount

The decrement is equal to the dt specified in the constructor.

Overload 2:

Method for decreasing the position of the iterator a fixed amount

Parameters

dt (float) – [in] Amount to decrease. A positive value is expected

dx()

Extracts a point of the derivative of the trajectory at the current position in the trajectory

Return type

rw::math::Vector3D< double >

Returns

the derived point at the current position in the trajectory.

getTime()

Returns the current position (time) of the iterator :rtype: float :return: The current time.

inc(*args)

Overload 1:

Method for increasing the position of the iterator a fixed amount

The increment is equal to the dt specified in the constructor.

Overload 2:

Method for increasing the position of the iterator by dt

Parameters

dt (float) – [in] Amount to increase. A positive value is expected.

isBegin()

Test if the beginning of the trajectory is reached.

Return type

boolean

Returns

true if the iterator has reached the beginning of the trajectory false otherwise.

isEnd()

Test if the end of the trajectory is reached.

Return type

boolean

Returns

true if the iterator has reached the end of the trajectory false otherwise.

next(*args)

Overload 1:

Operator overloading ++ for increasing the position of the iterator.

Usage: ++iterator

The increment is equal to the dt specified in the constructor. :rtype: rw::trajectory::TrajectoryIterator< rw::math::Vector3D< double > > :return: Reference to the TrajectoryIterator

Overload 2:

Operator overloading ++ for increasing the position of the iterator.

Usage: iterator++

The increment is equal to the dt specified in the constructor.

point()

Extracts a point at the current position in the trajectory.

Return type

rw::math::Vector3D< double >

Returns

the point at the current position in the trajectory.

prev(*args)

Overload 1:

Operator overloading – for decreasing the position of the iterator.

Usage: –iterator;

The decrement is equal to the dt specified in the constructor. :rtype: rw::trajectory::TrajectoryIterator< rw::math::Vector3D< double > > :return: Reference to the TrajectoryIterator

Overload 2:

Operator overloading – for decreasing the position of the iterator.

Usage: iterator–;

The decrement is equal to the dt specified in the constructor.

property thisown

The membership flag

x()

Extracts a point at the current position in the trajectory.

Return type

rw::math::Vector3D< double >

Returns

the point at the current position in the trajectory.

class sdurw_trajectory.sdurw_trajectory.TrajectoryIteratorVector3DCPtr(*args)

Bases: object

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

__init__(*args)

Overload 1:

Default constructor yielding a NULL-pointer.

Overload 2:

Do not take ownership of ptr.

ptr can be null.

The constructor is implicit on purpose.

ddx()

Extracts a point of the double derivative of the trajectory at the current position in the trajectory

Return type

rw::math::Vector3D< double >

Returns

the double derived point at the current position in the trajectory.

deref()

The pointer stored in the object.

dx()

Extracts a point of the derivative of the trajectory at the current position in the trajectory

Return type

rw::math::Vector3D< double >

Returns

the derived point at the current position in the trajectory.

getDeref()

Member access operator.

getTime()

Returns the current position (time) of the iterator :rtype: float :return: The current time.

isBegin()

Test if the beginning of the trajectory is reached.

Return type

boolean

Returns

true if the iterator has reached the beginning of the trajectory false otherwise.

isEnd()

Test if the end of the trajectory is reached.

Return type

boolean

Returns

true if the iterator has reached the end of the trajectory false otherwise.

isNull()

checks if the pointer is null :rtype: boolean :return: Returns true if the pointer is null

isShared()

check if this Ptr has shared ownership or none ownership :rtype: boolean :return: true if Ptr has shared ownership, false if it has no ownership.

point()

Extracts a point at the current position in the trajectory.

Return type

rw::math::Vector3D< double >

Returns

the point at the current position in the trajectory.

property thisown

The membership flag

x()

Extracts a point at the current position in the trajectory.

Return type

rw::math::Vector3D< double >

Returns

the point at the current position in the trajectory.

class sdurw_trajectory.sdurw_trajectory.TrajectoryIteratorVector3DPtr(*args)

Bases: object

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

__init__(*args)

Overload 1:

Default constructor yielding a NULL-pointer.

Overload 2:

Do not take ownership of ptr.

ptr can be null.

The constructor is implicit on purpose.

cptr()

ddx()

Extracts a point of the double derivative of the trajectory at the current position in the trajectory

Return type

rw::math::Vector3D< double >

Returns

the double derived point at the current position in the trajectory.

dec(*args)

Overload 1:

Method for decreasing the position of the iterator a fixed amount

The decrement is equal to the dt specified in the constructor.

Overload 2:

Method for decreasing the position of the iterator a fixed amount

Parameters

dt (float) – [in] Amount to decrease. A positive value is expected

deref()

The pointer stored in the object.

dx()

Extracts a point of the derivative of the trajectory at the current position in the trajectory

Return type

rw::math::Vector3D< double >

Returns

the derived point at the current position in the trajectory.

getDeref()

Member access operator.

getTime()

Returns the current position (time) of the iterator :rtype: float :return: The current time.

inc(*args)

Overload 1:

Method for increasing the position of the iterator a fixed amount

The increment is equal to the dt specified in the constructor.

Overload 2:

Method for increasing the position of the iterator by dt

Parameters

dt (float) – [in] Amount to increase. A positive value is expected.

isBegin()

Test if the beginning of the trajectory is reached.

Return type

boolean

Returns

true if the iterator has reached the beginning of the trajectory false otherwise.

isEnd()

Test if the end of the trajectory is reached.

Return type

boolean

Returns

true if the iterator has reached the end of the trajectory false otherwise.

isNull()

checks if the pointer is null :rtype: boolean :return: Returns true if the pointer is null

isShared()

check if this Ptr has shared ownership or none ownership :rtype: boolean :return: true if Ptr has shared ownership, false if it has no ownership.

next(*args)

Overload 1:

Operator overloading ++ for increasing the position of the iterator.

Usage: ++iterator

The increment is equal to the dt specified in the constructor. :rtype: rw::trajectory::TrajectoryIterator< rw::math::Vector3D< double > > :return: Reference to the TrajectoryIterator

Overload 2:

Operator overloading ++ for increasing the position of the iterator.

Usage: iterator++

The increment is equal to the dt specified in the constructor.

point()

Extracts a point at the current position in the trajectory.

Return type

rw::math::Vector3D< double >

Returns

the point at the current position in the trajectory.

prev(*args)

Overload 1:

Operator overloading – for decreasing the position of the iterator.

Usage: –iterator;

The decrement is equal to the dt specified in the constructor. :rtype: rw::trajectory::TrajectoryIterator< rw::math::Vector3D< double > > :return: Reference to the TrajectoryIterator

Overload 2:

Operator overloading – for decreasing the position of the iterator.

Usage: iterator–;

The decrement is equal to the dt specified in the constructor.

property thisown

The membership flag

x()

Extracts a point at the current position in the trajectory.

Return type

rw::math::Vector3D< double >

Returns

the point at the current position in the trajectory.

class sdurw_trajectory.sdurw_trajectory.TrajectoryIteratorVector3D_f(*args, **kwargs)

Bases: object

Bi-directional iterator for running efficiently through a trajectory

__init__(*args, **kwargs)

ddx()

Extracts a point of the double derivative of the trajectory at the current position in the trajectory

Return type

rw::math::Vector3D< float >

Returns

the double derived point at the current position in the trajectory.

dec(*args)

Overload 1:

Method for decreasing the position of the iterator a fixed amount

The decrement is equal to the dt specified in the constructor.

Overload 2:

Method for decreasing the position of the iterator a fixed amount

Parameters

dt (float) – [in] Amount to decrease. A positive value is expected

dx()

Extracts a point of the derivative of the trajectory at the current position in the trajectory

Return type

rw::math::Vector3D< float >

Returns

the derived point at the current position in the trajectory.

getTime()

Returns the current position (time) of the iterator :rtype: float :return: The current time.

inc(*args)

Overload 1:

Method for increasing the position of the iterator a fixed amount

The increment is equal to the dt specified in the constructor.

Overload 2:

Method for increasing the position of the iterator by dt

Parameters

dt (float) – [in] Amount to increase. A positive value is expected.

isBegin()

Test if the beginning of the trajectory is reached.

Return type

boolean

Returns

true if the iterator has reached the beginning of the trajectory false otherwise.

isEnd()

Test if the end of the trajectory is reached.

Return type

boolean

Returns

true if the iterator has reached the end of the trajectory false otherwise.

next(*args)

Overload 1:

Operator overloading ++ for increasing the position of the iterator.

Usage: ++iterator

The increment is equal to the dt specified in the constructor. :rtype: rw::trajectory::TrajectoryIterator< rw::math::Vector3D< float > > :return: Reference to the TrajectoryIterator

Overload 2:

Operator overloading ++ for increasing the position of the iterator.

Usage: iterator++

The increment is equal to the dt specified in the constructor.

point()

Extracts a point at the current position in the trajectory.

Return type

rw::math::Vector3D< float >

Returns

the point at the current position in the trajectory.

prev(*args)

Overload 1:

Operator overloading – for decreasing the position of the iterator.

Usage: –iterator;

The decrement is equal to the dt specified in the constructor. :rtype: rw::trajectory::TrajectoryIterator< rw::math::Vector3D< float > > :return: Reference to the TrajectoryIterator

Overload 2:

Operator overloading – for decreasing the position of the iterator.

Usage: iterator–;

The decrement is equal to the dt specified in the constructor.

property thisown

The membership flag

x()

Extracts a point at the current position in the trajectory.

Return type

rw::math::Vector3D< float >

Returns

the point at the current position in the trajectory.

class sdurw_trajectory.sdurw_trajectory.TrajectoryIteratorVector3D_fCPtr(*args)

Bases: object

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

__init__(*args)

Overload 1:

Default constructor yielding a NULL-pointer.

Overload 2:

Do not take ownership of ptr.

ptr can be null.

The constructor is implicit on purpose.

ddx()

Extracts a point of the double derivative of the trajectory at the current position in the trajectory

Return type

rw::math::Vector3D< float >

Returns

the double derived point at the current position in the trajectory.

deref()

The pointer stored in the object.

dx()

Extracts a point of the derivative of the trajectory at the current position in the trajectory

Return type

rw::math::Vector3D< float >

Returns

the derived point at the current position in the trajectory.

getDeref()

Member access operator.

getTime()

Returns the current position (time) of the iterator :rtype: float :return: The current time.

isBegin()

Test if the beginning of the trajectory is reached.

Return type

boolean

Returns

true if the iterator has reached the beginning of the trajectory false otherwise.

isEnd()

Test if the end of the trajectory is reached.

Return type

boolean

Returns

true if the iterator has reached the end of the trajectory false otherwise.

isNull()

checks if the pointer is null :rtype: boolean :return: Returns true if the pointer is null

isShared()

check if this Ptr has shared ownership or none ownership :rtype: boolean :return: true if Ptr has shared ownership, false if it has no ownership.

point()

Extracts a point at the current position in the trajectory.

Return type

rw::math::Vector3D< float >

Returns

the point at the current position in the trajectory.

property thisown

The membership flag

x()

Extracts a point at the current position in the trajectory.

Return type

rw::math::Vector3D< float >

Returns

the point at the current position in the trajectory.

class sdurw_trajectory.sdurw_trajectory.TrajectoryIteratorVector3D_fPtr(*args)

Bases: object

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

__init__(*args)

Overload 1:

Default constructor yielding a NULL-pointer.

Overload 2:

Do not take ownership of ptr.

ptr can be null.

The constructor is implicit on purpose.

cptr()

ddx()

Extracts a point of the double derivative of the trajectory at the current position in the trajectory

Return type

rw::math::Vector3D< float >

Returns

the double derived point at the current position in the trajectory.

dec(*args)

Overload 1:

Method for decreasing the position of the iterator a fixed amount

The decrement is equal to the dt specified in the constructor.

Overload 2:

Method for decreasing the position of the iterator a fixed amount

Parameters

dt (float) – [in] Amount to decrease. A positive value is expected

deref()

The pointer stored in the object.

dx()

Extracts a point of the derivative of the trajectory at the current position in the trajectory

Return type

rw::math::Vector3D< float >

Returns

the derived point at the current position in the trajectory.

getDeref()

Member access operator.

getTime()

Returns the current position (time) of the iterator :rtype: float :return: The current time.

inc(*args)

Overload 1:

Method for increasing the position of the iterator a fixed amount

The increment is equal to the dt specified in the constructor.

Overload 2:

Method for increasing the position of the iterator by dt

Parameters

dt (float) – [in] Amount to increase. A positive value is expected.

isBegin()

Test if the beginning of the trajectory is reached.

Return type

boolean

Returns

true if the iterator has reached the beginning of the trajectory false otherwise.

isEnd()

Test if the end of the trajectory is reached.

Return type

boolean

Returns

true if the iterator has reached the end of the trajectory false otherwise.

isNull()

checks if the pointer is null :rtype: boolean :return: Returns true if the pointer is null

isShared()

check if this Ptr has shared ownership or none ownership :rtype: boolean :return: true if Ptr has shared ownership, false if it has no ownership.

next(*args)

Overload 1:

Operator overloading ++ for increasing the position of the iterator.

Usage: ++iterator

The increment is equal to the dt specified in the constructor. :rtype: rw::trajectory::TrajectoryIterator< rw::math::Vector3D< float > > :return: Reference to the TrajectoryIterator

Overload 2:

Operator overloading ++ for increasing the position of the iterator.

Usage: iterator++

The increment is equal to the dt specified in the constructor.

point()

Extracts a point at the current position in the trajectory.

Return type

rw::math::Vector3D< float >

Returns

the point at the current position in the trajectory.

prev(*args)

Overload 1:

Operator overloading – for decreasing the position of the iterator.

Usage: –iterator;

The decrement is equal to the dt specified in the constructor. :rtype: rw::trajectory::TrajectoryIterator< rw::math::Vector3D< float > > :return: Reference to the TrajectoryIterator

Overload 2:

Operator overloading – for decreasing the position of the iterator.

Usage: iterator–;

The decrement is equal to the dt specified in the constructor.

property thisown

The membership flag

x()

Extracts a point at the current position in the trajectory.

Return type

rw::math::Vector3D< float >

Returns

the point at the current position in the trajectory.

class sdurw_trajectory.sdurw_trajectory.TrajectoryIterator_d(*args, **kwargs)

Bases: object

Bi-directional iterator for running efficiently through a trajectory

__init__(*args, **kwargs)

ddx()

Extracts a point of the double derivative of the trajectory at the current position in the trajectory

Return type

float

Returns

the double derived point at the current position in the trajectory.

dec(*args)

Overload 1:

Method for decreasing the position of the iterator a fixed amount

The decrement is equal to the dt specified in the constructor.

Overload 2:

Method for decreasing the position of the iterator a fixed amount

Parameters

dt (float) – [in] Amount to decrease. A positive value is expected

dx()

Extracts a point of the derivative of the trajectory at the current position in the trajectory

Return type

float

Returns

the derived point at the current position in the trajectory.

getTime()

Returns the current position (time) of the iterator :rtype: float :return: The current time.

inc(*args)

Overload 1:

Method for increasing the position of the iterator a fixed amount

The increment is equal to the dt specified in the constructor.

Overload 2:

Method for increasing the position of the iterator by dt

Parameters

dt (float) – [in] Amount to increase. A positive value is expected.

isBegin()

Test if the beginning of the trajectory is reached.

Return type

boolean

Returns

true if the iterator has reached the beginning of the trajectory false otherwise.

isEnd()

Test if the end of the trajectory is reached.

Return type

boolean

Returns

true if the iterator has reached the end of the trajectory false otherwise.

next(*args)

Overload 1:

Operator overloading ++ for increasing the position of the iterator.

Usage: ++iterator

The increment is equal to the dt specified in the constructor. :rtype: rw::trajectory::TrajectoryIterator< double > :return: Reference to the TrajectoryIterator

Overload 2:

Operator overloading ++ for increasing the position of the iterator.

Usage: iterator++

The increment is equal to the dt specified in the constructor.

point()

Extracts a point at the current position in the trajectory.

Return type

float

Returns

the point at the current position in the trajectory.

prev(*args)

Overload 1:

Operator overloading – for decreasing the position of the iterator.

Usage: –iterator;

The decrement is equal to the dt specified in the constructor. :rtype: rw::trajectory::TrajectoryIterator< double > :return: Reference to the TrajectoryIterator

Overload 2:

Operator overloading – for decreasing the position of the iterator.

Usage: iterator–;

The decrement is equal to the dt specified in the constructor.

property thisown

The membership flag

x()

Extracts a point at the current position in the trajectory.

Return type

float

Returns

the point at the current position in the trajectory.

class sdurw_trajectory.sdurw_trajectory.TrajectoryIterator_dCPtr(*args)

Bases: object

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

__init__(*args)

Overload 1:

Default constructor yielding a NULL-pointer.

Overload 2:

Do not take ownership of ptr.

ptr can be null.

The constructor is implicit on purpose.

ddx()

Extracts a point of the double derivative of the trajectory at the current position in the trajectory

Return type

float

Returns

the double derived point at the current position in the trajectory.

deref()

The pointer stored in the object.

dx()

Extracts a point of the derivative of the trajectory at the current position in the trajectory

Return type

float

Returns

the derived point at the current position in the trajectory.

getDeref()

Member access operator.

getTime()

Returns the current position (time) of the iterator :rtype: float :return: The current time.

isBegin()

Test if the beginning of the trajectory is reached.

Return type

boolean

Returns

true if the iterator has reached the beginning of the trajectory false otherwise.

isEnd()

Test if the end of the trajectory is reached.

Return type

boolean

Returns

true if the iterator has reached the end of the trajectory false otherwise.

isNull()

checks if the pointer is null :rtype: boolean :return: Returns true if the pointer is null

isShared()

check if this Ptr has shared ownership or none ownership :rtype: boolean :return: true if Ptr has shared ownership, false if it has no ownership.

point()

Extracts a point at the current position in the trajectory.

Return type

float

Returns

the point at the current position in the trajectory.

property thisown

The membership flag

x()

Extracts a point at the current position in the trajectory.

Return type

float

Returns

the point at the current position in the trajectory.

class sdurw_trajectory.sdurw_trajectory.TrajectoryIterator_dPtr(*args)

Bases: object

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

__init__(*args)

Overload 1:

Default constructor yielding a NULL-pointer.

Overload 2:

Do not take ownership of ptr.

ptr can be null.

The constructor is implicit on purpose.

cptr()

ddx()

Extracts a point of the double derivative of the trajectory at the current position in the trajectory

Return type

float

Returns

the double derived point at the current position in the trajectory.

dec(*args)

Overload 1:

Method for decreasing the position of the iterator a fixed amount

The decrement is equal to the dt specified in the constructor.

Overload 2:

Method for decreasing the position of the iterator a fixed amount

Parameters

dt (float) – [in] Amount to decrease. A positive value is expected

deref()

The pointer stored in the object.

dx()

Extracts a point of the derivative of the trajectory at the current position in the trajectory

Return type

float

Returns

the derived point at the current position in the trajectory.

getDeref()

Member access operator.

getTime()

Returns the current position (time) of the iterator :rtype: float :return: The current time.

inc(*args)

Overload 1:

Method for increasing the position of the iterator a fixed amount

The increment is equal to the dt specified in the constructor.

Overload 2:

Method for increasing the position of the iterator by dt

Parameters

dt (float) – [in] Amount to increase. A positive value is expected.

isBegin()

Test if the beginning of the trajectory is reached.

Return type

boolean

Returns

true if the iterator has reached the beginning of the trajectory false otherwise.

isEnd()

Test if the end of the trajectory is reached.

Return type

boolean

Returns

true if the iterator has reached the end of the trajectory false otherwise.

isNull()

checks if the pointer is null :rtype: boolean :return: Returns true if the pointer is null

isShared()

check if this Ptr has shared ownership or none ownership :rtype: boolean :return: true if Ptr has shared ownership, false if it has no ownership.

next(*args)

Overload 1:

Operator overloading ++ for increasing the position of the iterator.

Usage: ++iterator

The increment is equal to the dt specified in the constructor. :rtype: rw::trajectory::TrajectoryIterator< double > :return: Reference to the TrajectoryIterator

Overload 2:

Operator overloading ++ for increasing the position of the iterator.

Usage: iterator++

The increment is equal to the dt specified in the constructor.

point()

Extracts a point at the current position in the trajectory.

Return type

float

Returns

the point at the current position in the trajectory.

prev(*args)

Overload 1:

Operator overloading – for decreasing the position of the iterator.

Usage: –iterator;

The decrement is equal to the dt specified in the constructor. :rtype: rw::trajectory::TrajectoryIterator< double > :return: Reference to the TrajectoryIterator

Overload 2:

Operator overloading – for decreasing the position of the iterator.

Usage: iterator–;

The decrement is equal to the dt specified in the constructor.

property thisown

The membership flag

x()

Extracts a point at the current position in the trajectory.

Return type

float

Returns

the point at the current position in the trajectory.

class sdurw_trajectory.sdurw_trajectory.TrajectoryIterator_d_f(*args, **kwargs)

Bases: object

Bi-directional iterator for running efficiently through a trajectory

__init__(*args, **kwargs)

ddx()

Extracts a point of the double derivative of the trajectory at the current position in the trajectory

Return type

float

Returns

the double derived point at the current position in the trajectory.

dec(*args)

Overload 1:

Method for decreasing the position of the iterator a fixed amount

The decrement is equal to the dt specified in the constructor.

Overload 2:

Method for decreasing the position of the iterator a fixed amount

Parameters

dt (float) – [in] Amount to decrease. A positive value is expected

dx()

Extracts a point of the derivative of the trajectory at the current position in the trajectory

Return type

float

Returns

the derived point at the current position in the trajectory.

getTime()

Returns the current position (time) of the iterator :rtype: float :return: The current time.

inc(*args)

Overload 1:

Method for increasing the position of the iterator a fixed amount

The increment is equal to the dt specified in the constructor.

Overload 2:

Method for increasing the position of the iterator by dt

Parameters

dt (float) – [in] Amount to increase. A positive value is expected.

isBegin()

Test if the beginning of the trajectory is reached.

Return type

boolean

Returns

true if the iterator has reached the beginning of the trajectory false otherwise.

isEnd()

Test if the end of the trajectory is reached.

Return type

boolean

Returns

true if the iterator has reached the end of the trajectory false otherwise.

next(*args)

Overload 1:

Operator overloading ++ for increasing the position of the iterator.

Usage: ++iterator

The increment is equal to the dt specified in the constructor. :rtype: rw::trajectory::TrajectoryIterator< float > :return: Reference to the TrajectoryIterator

Overload 2:

Operator overloading ++ for increasing the position of the iterator.

Usage: iterator++

The increment is equal to the dt specified in the constructor.

point()

Extracts a point at the current position in the trajectory.

Return type

float

Returns

the point at the current position in the trajectory.

prev(*args)

Overload 1:

Operator overloading – for decreasing the position of the iterator.

Usage: –iterator;

The decrement is equal to the dt specified in the constructor. :rtype: rw::trajectory::TrajectoryIterator< float > :return: Reference to the TrajectoryIterator

Overload 2:

Operator overloading – for decreasing the position of the iterator.

Usage: iterator–;

The decrement is equal to the dt specified in the constructor.

property thisown

The membership flag

x()

Extracts a point at the current position in the trajectory.

Return type

float

Returns

the point at the current position in the trajectory.

class sdurw_trajectory.sdurw_trajectory.TrajectoryIterator_d_fCPtr(*args)

Bases: object

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

__init__(*args)

Overload 1:

Default constructor yielding a NULL-pointer.

Overload 2:

Do not take ownership of ptr.

ptr can be null.

The constructor is implicit on purpose.

ddx()

Extracts a point of the double derivative of the trajectory at the current position in the trajectory

Return type

float

Returns

the double derived point at the current position in the trajectory.

deref()

The pointer stored in the object.

dx()

Extracts a point of the derivative of the trajectory at the current position in the trajectory

Return type

float

Returns

the derived point at the current position in the trajectory.

getDeref()

Member access operator.

getTime()

Returns the current position (time) of the iterator :rtype: float :return: The current time.

isBegin()

Test if the beginning of the trajectory is reached.

Return type

boolean

Returns

true if the iterator has reached the beginning of the trajectory false otherwise.

isEnd()

Test if the end of the trajectory is reached.

Return type

boolean

Returns

true if the iterator has reached the end of the trajectory false otherwise.

isNull()

checks if the pointer is null :rtype: boolean :return: Returns true if the pointer is null

isShared()

check if this Ptr has shared ownership or none ownership :rtype: boolean :return: true if Ptr has shared ownership, false if it has no ownership.

point()

Extracts a point at the current position in the trajectory.

Return type

float

Returns

the point at the current position in the trajectory.

property thisown

The membership flag

x()

Extracts a point at the current position in the trajectory.

Return type

float

Returns

the point at the current position in the trajectory.

class sdurw_trajectory.sdurw_trajectory.TrajectoryIterator_d_fPtr(*args)

Bases: object

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

__init__(*args)

Overload 1:

Default constructor yielding a NULL-pointer.

Overload 2:

Do not take ownership of ptr.

ptr can be null.

The constructor is implicit on purpose.

cptr()

ddx()

Extracts a point of the double derivative of the trajectory at the current position in the trajectory

Return type

float

Returns

the double derived point at the current position in the trajectory.

dec(*args)

Overload 1:

Method for decreasing the position of the iterator a fixed amount

The decrement is equal to the dt specified in the constructor.

Overload 2:

Method for decreasing the position of the iterator a fixed amount

Parameters

dt (float) – [in] Amount to decrease. A positive value is expected

deref()

The pointer stored in the object.

dx()

Extracts a point of the derivative of the trajectory at the current position in the trajectory

Return type

float

Returns

the derived point at the current position in the trajectory.

getDeref()

Member access operator.

getTime()

Returns the current position (time) of the iterator :rtype: float :return: The current time.

inc(*args)

Overload 1:

Method for increasing the position of the iterator a fixed amount

The increment is equal to the dt specified in the constructor.

Overload 2:

Method for increasing the position of the iterator by dt

Parameters

dt (float) – [in] Amount to increase. A positive value is expected.

isBegin()

Test if the beginning of the trajectory is reached.

Return type

boolean

Returns

true if the iterator has reached the beginning of the trajectory false otherwise.

isEnd()

Test if the end of the trajectory is reached.

Return type

boolean

Returns

true if the iterator has reached the end of the trajectory false otherwise.

isNull()

checks if the pointer is null :rtype: boolean :return: Returns true if the pointer is null

isShared()

check if this Ptr has shared ownership or none ownership :rtype: boolean :return: true if Ptr has shared ownership, false if it has no ownership.

next(*args)

Overload 1:

Operator overloading ++ for increasing the position of the iterator.

Usage: ++iterator

The increment is equal to the dt specified in the constructor. :rtype: rw::trajectory::TrajectoryIterator< float > :return: Reference to the TrajectoryIterator

Overload 2:

Operator overloading ++ for increasing the position of the iterator.

Usage: iterator++

The increment is equal to the dt specified in the constructor.

point()

Extracts a point at the current position in the trajectory.

Return type

float

Returns

the point at the current position in the trajectory.

prev(*args)

Overload 1:

Operator overloading – for decreasing the position of the iterator.

Usage: –iterator;

The decrement is equal to the dt specified in the constructor. :rtype: rw::trajectory::TrajectoryIterator< float > :return: Reference to the TrajectoryIterator

Overload 2:

Operator overloading – for decreasing the position of the iterator.

Usage: iterator–;

The decrement is equal to the dt specified in the constructor.

property thisown

The membership flag

x()

Extracts a point at the current position in the trajectory.

Return type

float

Returns

the point at the current position in the trajectory.

class sdurw_trajectory.sdurw_trajectory.TrajectoryQ(*args, **kwargs)

Bases: object

Interface for Trajectories in RobWork

__init__(*args, **kwargs)

ddx(t)

Acceleration of trajectory at time t

Returns the acceleration of the trajectory at time t \(\in[startTime(),endTime()]\).

Parameters

t (float) – [in] time between startTime() and endTime()

Return type

Q

Returns

Acceleration

duration()

Total duration of the trajectory.

The duration of the Trajectory corresponds to the time it takes to

run through it.

If the trajectory is empty, then -1 is returned.

dx(t)

Velocity of trajectory at time t

Returns the velocity of the trajectory at time t \(\in[startTime(), endTime()]\).

Parameters

t (float) – [in] time between startTime() and endTime()

Return type

Q

Returns

Velocity

endTime()

Returns the endTime of the trajectory.

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

Return type

float

Returns

The end time

getIterator(dt=1)

Returns a bi-directional interator for running through the trajectory.

For some trajectory types it may be significantly more efficient to run through using an iterator, rather than using random access.

Parameters

dt (float, optional) – [in] The default time step used when using the ++ or – operators in the iterator

Pointer to the iterator. The pointer has ownership.

getPath(dt, uniform=True)

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 (float) – [in] Step size

• uniform (boolean, optional) – [in] Whether to sample the path uniformly

Return type

std::vector< rw::math::Q >

Returns

The discrete path.

startTime()

Returns the startTime of the trajectory

Return type

float

Returns

Start time

property thisown

The membership flag

x(t)

Position of trajectory at time t

Returns the position of the trajectory at time t \(\in[startTime(), endTime()]\).

Parameters

t (float) – [in] time between startTime() and endTime()

Return type

Q

Returns

Position

class sdurw_trajectory.sdurw_trajectory.TrajectoryQCPtr(*args)

Bases: object

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

__init__(*args)

Overload 1:

Default constructor yielding a NULL-pointer.

Overload 2:

Do not take ownership of ptr.

ptr can be null.

The constructor is implicit on purpose.

ddx(t)

Acceleration of trajectory at time t

Returns the acceleration of the trajectory at time t \(\in[startTime(),endTime()]\).

Parameters

t (float) – [in] time between startTime() and endTime()

Return type

Q

Returns

Acceleration

deref()

The pointer stored in the object.

duration()

Total duration of the trajectory.

The duration of the Trajectory corresponds to the time it takes to

run through it.

If the trajectory is empty, then -1 is returned.

dx(t)

Velocity of trajectory at time t

Returns the velocity of the trajectory at time t \(\in[startTime(), endTime()]\).

Parameters

t (float) – [in] time between startTime() and endTime()

Return type

Q

Returns

Velocity

endTime()

Returns the endTime of the trajectory.

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

Return type

float

Returns

The end time

getDeref()

Member access operator.

getIterator(dt=1)

Returns a bi-directional interator for running through the trajectory.

For some trajectory types it may be significantly more efficient to run through using an iterator, rather than using random access.

Parameters

dt (float, optional) – [in] The default time step used when using the ++ or – operators in the iterator

Pointer to the iterator. The pointer has ownership.

isNull()

checks if the pointer is null :rtype: boolean :return: Returns true if the pointer is null

isShared()

check if this Ptr has shared ownership or none ownership :rtype: boolean :return: true if Ptr has shared ownership, false if it has no ownership.

startTime()

Returns the startTime of the trajectory

Return type

float

Returns

Start time

property thisown

The membership flag

x(t)

Position of trajectory at time t

Returns the position of the trajectory at time t \(\in[startTime(), endTime()]\).

Parameters

t (float) – [in] time between startTime() and endTime()

Return type

Q

Returns

Position

class sdurw_trajectory.sdurw_trajectory.TrajectoryQPtr(*args)

Bases: object

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

__init__(*args)

Overload 1:

Default constructor yielding a NULL-pointer.

Overload 2:

Do not take ownership of ptr.

ptr can be null.

The constructor is implicit on purpose.

cptr()

ddx(t)

Acceleration of trajectory at time t

Returns the acceleration of the trajectory at time t \(\in[startTime(),endTime()]\).

Parameters

t (float) – [in] time between startTime() and endTime()

Return type

Q

Returns

Acceleration

deref()

The pointer stored in the object.

duration()

Total duration of the trajectory.

The duration of the Trajectory corresponds to the time it takes to

run through it.

If the trajectory is empty, then -1 is returned.

dx(t)

Velocity of trajectory at time t

Returns the velocity of the trajectory at time t \(\in[startTime(), endTime()]\).

Parameters

t (float) – [in] time between startTime() and endTime()

Return type

Q

Returns

Velocity

endTime()

Returns the endTime of the trajectory.

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

Return type

float

Returns

The end time

getDeref()

Member access operator.

getIterator(dt=1)

Returns a bi-directional interator for running through the trajectory.

For some trajectory types it may be significantly more efficient to run through using an iterator, rather than using random access.

Parameters

dt (float, optional) – [in] The default time step used when using the ++ or – operators in the iterator

Pointer to the iterator. The pointer has ownership.

getPath(dt, uniform=True)

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 (float) – [in] Step size

• uniform (boolean, optional) – [in] Whether to sample the path uniformly

Return type

std::vector< rw::math::Q >

Returns

The discrete path.

isNull()

checks if the pointer is null :rtype: boolean :return: Returns true if the pointer is null

isShared()

check if this Ptr has shared ownership or none ownership :rtype: boolean :return: true if Ptr has shared ownership, false if it has no ownership.

startTime()

Returns the startTime of the trajectory

Return type

float

Returns

Start time

property thisown

The membership flag

x(t)

Position of trajectory at time t

Returns the position of the trajectory at time t \(\in[startTime(), endTime()]\).

Parameters

t (float) – [in] time between startTime() and endTime()

Return type

Q

Returns

Position

class sdurw_trajectory.sdurw_trajectory.TrajectoryQuaternion(*args, **kwargs)

Bases: object

Interface for Trajectories in RobWork

__init__(*args, **kwargs)

ddx(t)

Acceleration of trajectory at time t

Returns the acceleration of the trajectory at time t \(\in[startTime(),endTime()]\).

Parameters

t (float) – [in] time between startTime() and endTime()

Return type

rw::math::Quaternion< double >

Returns

Acceleration

duration()

Total duration of the trajectory.

The duration of the Trajectory corresponds to the time it takes to

run through it.

If the trajectory is empty, then -1 is returned.

dx(t)

Velocity of trajectory at time t

Returns the velocity of the trajectory at time t \(\in[startTime(), endTime()]\).

Parameters

t (float) – [in] time between startTime() and endTime()

Return type

rw::math::Quaternion< double >

Returns

Velocity

endTime()

Returns the endTime of the trajectory.

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

Return type

float

Returns

The end time

getIterator(dt=1)

Returns a bi-directional interator for running through the trajectory.

For some trajectory types it may be significantly more efficient to run through using an iterator, rather than using random access.

Parameters

dt (float, optional) – [in] The default time step used when using the ++ or – operators in the iterator

Pointer to the iterator. The pointer has ownership.

getPath(dt, uniform=True)

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 (float) – [in] Step size

• uniform (boolean, optional) – [in] Whether to sample the path uniformly

Return type

std::vector< rw::math::Quaternion< double > >

Returns

The discrete path.

startTime()

Returns the startTime of the trajectory

Return type

float

Returns

Start time

property thisown

The membership flag

x(t)

Position of trajectory at time t

Returns the position of the trajectory at time t \(\in[startTime(), endTime()]\).

Parameters

t (float) – [in] time between startTime() and endTime()

Return type

rw::math::Quaternion< double >

Returns

Position

class sdurw_trajectory.sdurw_trajectory.TrajectoryQuaternion_f(*args, **kwargs)

Bases: object

Interface for Trajectories in RobWork

__init__(*args, **kwargs)

ddx(t)

Acceleration of trajectory at time t

Returns the acceleration of the trajectory at time t \(\in[startTime(),endTime()]\).

Parameters

t (float) – [in] time between startTime() and endTime()

Return type

rw::math::Quaternion< float >

Returns

Acceleration

duration()

Total duration of the trajectory.

The duration of the Trajectory corresponds to the time it takes to

run through it.

If the trajectory is empty, then -1 is returned.

dx(t)

Velocity of trajectory at time t

Returns the velocity of the trajectory at time t \(\in[startTime(), endTime()]\).

Parameters

t (float) – [in] time between startTime() and endTime()

Return type

rw::math::Quaternion< float >

Returns

Velocity

endTime()

Returns the endTime of the trajectory.

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

Return type

float

Returns

The end time

getIterator(dt=1)

Returns a bi-directional interator for running through the trajectory.

For some trajectory types it may be significantly more efficient to run through using an iterator, rather than using random access.

Parameters

dt (float, optional) – [in] The default time step used when using the ++ or – operators in the iterator

Pointer to the iterator. The pointer has ownership.

getPath(dt, uniform=True)

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 (float) – [in] Step size

• uniform (boolean, optional) – [in] Whether to sample the path uniformly

Return type

std::vector< rw::math::Quaternion< float > >

Returns

The discrete path.

startTime()

Returns the startTime of the trajectory

Return type

float

Returns

Start time

property thisown

The membership flag

x(t)

Position of trajectory at time t

Returns the position of the trajectory at time t \(\in[startTime(), endTime()]\).

Parameters

t (float) – [in] time between startTime() and endTime()

Return type

rw::math::Quaternion< float >

Returns

Position

sdurw_trajectory.sdurw_trajectory.TrajectoryR1

alias of Trajectory_d

sdurw_trajectory.sdurw_trajectory.TrajectoryR2

alias of TrajectoryVector2D

sdurw_trajectory.sdurw_trajectory.TrajectoryR3

alias of TrajectoryVector3D

class sdurw_trajectory.sdurw_trajectory.TrajectoryRotation3D(*args, **kwargs)

Bases: object

Interface for Trajectories in RobWork

__init__(*args, **kwargs)

ddx(t)

Acceleration of trajectory at time t

Returns the acceleration of the trajectory at time t \(\in[startTime(),endTime()]\).

Parameters

t (float) – [in] time between startTime() and endTime()

Return type

rw::math::Rotation3D< double >

Returns

Acceleration

duration()

Total duration of the trajectory.

The duration of the Trajectory corresponds to the time it takes to

run through it.

If the trajectory is empty, then -1 is returned.

dx(t)

Velocity of trajectory at time t

Returns the velocity of the trajectory at time t \(\in[startTime(), endTime()]\).

Parameters

t (float) – [in] time between startTime() and endTime()

Return type

rw::math::Rotation3D< double >

Returns

Velocity

endTime()

Returns the endTime of the trajectory.

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

Return type

float

Returns

The end time

getIterator(dt=1)

Returns a bi-directional interator for running through the trajectory.

For some trajectory types it may be significantly more efficient to run through using an iterator, rather than using random access.

Parameters

dt (float, optional) – [in] The default time step used when using the ++ or – operators in the iterator

Pointer to the iterator. The pointer has ownership.

getPath(dt, uniform=True)

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 (float) – [in] Step size

• uniform (boolean, optional) – [in] Whether to sample the path uniformly

Return type

std::vector< rw::math::Rotation3D< double > >

Returns

The discrete path.

startTime()

Returns the startTime of the trajectory

Return type

float

Returns

Start time

property thisown

The membership flag

x(t)

Position of trajectory at time t

Returns the position of the trajectory at time t \(\in[startTime(), endTime()]\).

Parameters

t (float) – [in] time between startTime() and endTime()

Return type

rw::math::Rotation3D< double >

Returns

Position

class sdurw_trajectory.sdurw_trajectory.TrajectoryRotation3DCPtr(*args)

Bases: object

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

__init__(*args)

Overload 1:

Default constructor yielding a NULL-pointer.

Overload 2:

Do not take ownership of ptr.

ptr can be null.

The constructor is implicit on purpose.

ddx(t)

Acceleration of trajectory at time t

Returns the acceleration of the trajectory at time t \(\in[startTime(),endTime()]\).

Parameters

t (float) – [in] time between startTime() and endTime()

Return type

rw::math::Rotation3D< double >

Returns

Acceleration

deref()

The pointer stored in the object.

duration()

Total duration of the trajectory.

The duration of the Trajectory corresponds to the time it takes to

run through it.

If the trajectory is empty, then -1 is returned.

dx(t)

Velocity of trajectory at time t

Returns the velocity of the trajectory at time t \(\in[startTime(), endTime()]\).

Parameters

t (float) – [in] time between startTime() and endTime()

Return type

rw::math::Rotation3D< double >

Returns

Velocity

endTime()

Returns the endTime of the trajectory.

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

Return type

float

Returns

The end time

getDeref()

Member access operator.

getIterator(dt=1)

Returns a bi-directional interator for running through the trajectory.

For some trajectory types it may be significantly more efficient to run through using an iterator, rather than using random access.

Parameters

dt (float, optional) – [in] The default time step used when using the ++ or – operators in the iterator

Pointer to the iterator. The pointer has ownership.

isNull()

checks if the pointer is null :rtype: boolean :return: Returns true if the pointer is null

isShared()

check if this Ptr has shared ownership or none ownership :rtype: boolean :return: true if Ptr has shared ownership, false if it has no ownership.

startTime()

Returns the startTime of the trajectory

Return type

float

Returns

Start time

property thisown

The membership flag

x(t)

Position of trajectory at time t

Returns the position of the trajectory at time t \(\in[startTime(), endTime()]\).

Parameters

t (float) – [in] time between startTime() and endTime()

Return type

rw::math::Rotation3D< double >

Returns

Position

class sdurw_trajectory.sdurw_trajectory.TrajectoryRotation3DPtr(*args)

Bases: object

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

__init__(*args)

Overload 1:

Default constructor yielding a NULL-pointer.

Overload 2:

Do not take ownership of ptr.

ptr can be null.

The constructor is implicit on purpose.

cptr()

ddx(t)

Acceleration of trajectory at time t

Returns the acceleration of the trajectory at time t \(\in[startTime(),endTime()]\).

Parameters

t (float) – [in] time between startTime() and endTime()

Return type

rw::math::Rotation3D< double >

Returns

Acceleration

deref()

The pointer stored in the object.

duration()

Total duration of the trajectory.

The duration of the Trajectory corresponds to the time it takes to

run through it.

If the trajectory is empty, then -1 is returned.

dx(t)

Velocity of trajectory at time t

Returns the velocity of the trajectory at time t \(\in[startTime(), endTime()]\).

Parameters

t (float) – [in] time between startTime() and endTime()

Return type

rw::math::Rotation3D< double >

Returns

Velocity

endTime()

Returns the endTime of the trajectory.

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

Return type

float

Returns

The end time

getDeref()

Member access operator.

getIterator(dt=1)

Returns a bi-directional interator for running through the trajectory.

For some trajectory types it may be significantly more efficient to run through using an iterator, rather than using random access.

Parameters

dt (float, optional) – [in] The default time step used when using the ++ or – operators in the iterator

Pointer to the iterator. The pointer has ownership.

getPath(dt, uniform=True)

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 (float) – [in] Step size

• uniform (boolean, optional) – [in] Whether to sample the path uniformly

Return type

std::vector< rw::math::Rotation3D< double > >

Returns

The discrete path.

isNull()

checks if the pointer is null :rtype: boolean :return: Returns true if the pointer is null

isShared()

check if this Ptr has shared ownership or none ownership :rtype: boolean :return: true if Ptr has shared ownership, false if it has no ownership.

startTime()

Returns the startTime of the trajectory

Return type

float

Returns

Start time

property thisown

The membership flag

x(t)

Position of trajectory at time t

Returns the position of the trajectory at time t \(\in[startTime(), endTime()]\).

Parameters

t (float) – [in] time between startTime() and endTime()

Return type

rw::math::Rotation3D< double >

Returns

Position

class sdurw_trajectory.sdurw_trajectory.TrajectoryRotation3D_f(*args, **kwargs)

Bases: object

Interface for Trajectories in RobWork

__init__(*args, **kwargs)

ddx(t)

Acceleration of trajectory at time t

Returns the acceleration of the trajectory at time t \(\in[startTime(),endTime()]\).

Parameters

t (float) – [in] time between startTime() and endTime()

Return type

rw::math::Rotation3D< float >

Returns

Acceleration

duration()

Total duration of the trajectory.

The duration of the Trajectory corresponds to the time it takes to

run through it.

If the trajectory is empty, then -1 is returned.

dx(t)

Velocity of trajectory at time t

Returns the velocity of the trajectory at time t \(\in[startTime(), endTime()]\).

Parameters

t (float) – [in] time between startTime() and endTime()

Return type

rw::math::Rotation3D< float >

Returns

Velocity

endTime()

Returns the endTime of the trajectory.

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

Return type

float

Returns

The end time

getIterator(dt=1)

Returns a bi-directional interator for running through the trajectory.

For some trajectory types it may be significantly more efficient to run through using an iterator, rather than using random access.

Parameters

dt (float, optional) – [in] The default time step used when using the ++ or – operators in the iterator

Pointer to the iterator. The pointer has ownership.

getPath(dt, uniform=True)

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 (float) – [in] Step size

• uniform (boolean, optional) – [in] Whether to sample the path uniformly

Return type

std::vector< rw::math::Rotation3D< float > >

Returns

The discrete path.

startTime()

Returns the startTime of the trajectory

Return type

float

Returns

Start time

property thisown

The membership flag

x(t)

Position of trajectory at time t

Returns the position of the trajectory at time t \(\in[startTime(), endTime()]\).

Parameters

t (float) – [in] time between startTime() and endTime()

Return type

rw::math::Rotation3D< float >

Returns

Position

class sdurw_trajectory.sdurw_trajectory.TrajectoryRotation3D_fCPtr(*args)

Bases: object

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

__init__(*args)

Overload 1:

Default constructor yielding a NULL-pointer.

Overload 2:

Do not take ownership of ptr.

ptr can be null.

The constructor is implicit on purpose.

ddx(t)

Acceleration of trajectory at time t

Returns the acceleration of the trajectory at time t \(\in[startTime(),endTime()]\).

Parameters

t (float) – [in] time between startTime() and endTime()

Return type

rw::math::Rotation3D< float >

Returns

Acceleration

deref()

The pointer stored in the object.

duration()

Total duration of the trajectory.

The duration of the Trajectory corresponds to the time it takes to

run through it.

If the trajectory is empty, then -1 is returned.

dx(t)

Velocity of trajectory at time t

Returns the velocity of the trajectory at time t \(\in[startTime(), endTime()]\).

Parameters

t (float) – [in] time between startTime() and endTime()

Return type

rw::math::Rotation3D< float >

Returns

Velocity

endTime()

Returns the endTime of the trajectory.

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

Return type

float

Returns

The end time

getDeref()

Member access operator.

getIterator(dt=1)

Returns a bi-directional interator for running through the trajectory.

For some trajectory types it may be significantly more efficient to run through using an iterator, rather than using random access.

Parameters

dt (float, optional) – [in] The default time step used when using the ++ or – operators in the iterator

Pointer to the iterator. The pointer has ownership.

isNull()

checks if the pointer is null :rtype: boolean :return: Returns true if the pointer is null

isShared()

check if this Ptr has shared ownership or none ownership :rtype: boolean :return: true if Ptr has shared ownership, false if it has no ownership.

startTime()

Returns the startTime of the trajectory

Return type

float

Returns

Start time

property thisown

The membership flag

x(t)

Position of trajectory at time t

Returns the position of the trajectory at time t \(\in[startTime(), endTime()]\).

Parameters

t (float) – [in] time between startTime() and endTime()

Return type

rw::math::Rotation3D< float >

Returns

Position

class sdurw_trajectory.sdurw_trajectory.TrajectoryRotation3D_fPtr(*args)

Bases: object

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

__init__(*args)

Overload 1:

Default constructor yielding a NULL-pointer.

Overload 2:

Do not take ownership of ptr.

ptr can be null.

The constructor is implicit on purpose.

cptr()

ddx(t)

Acceleration of trajectory at time t

Returns the acceleration of the trajectory at time t \(\in[startTime(),endTime()]\).

Parameters

t (float) – [in] time between startTime() and endTime()

Return type

rw::math::Rotation3D< float >

Returns

Acceleration

deref()

The pointer stored in the object.

duration()

Total duration of the trajectory.

The duration of the Trajectory corresponds to the time it takes to

run through it.

If the trajectory is empty, then -1 is returned.

dx(t)

Velocity of trajectory at time t

Returns the velocity of the trajectory at time t \(\in[startTime(), endTime()]\).

Parameters

t (float) – [in] time between startTime() and endTime()

Return type

rw::math::Rotation3D< float >

Returns

Velocity

endTime()

Returns the endTime of the trajectory.

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

Return type

float

Returns

The end time

getDeref()

Member access operator.

getIterator(dt=1)

Returns a bi-directional interator for running through the trajectory.

For some trajectory types it may be significantly more efficient to run through using an iterator, rather than using random access.

Parameters

dt (float, optional) – [in] The default time step used when using the ++ or – operators in the iterator

Pointer to the iterator. The pointer has ownership.

getPath(dt, uniform=True)

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 (float) – [in] Step size

• uniform (boolean, optional) – [in] Whether to sample the path uniformly

Return type

std::vector< rw::math::Rotation3D< float > >

Returns

The discrete path.

isNull()

checks if the pointer is null :rtype: boolean :return: Returns true if the pointer is null

isShared()

check if this Ptr has shared ownership or none ownership :rtype: boolean :return: true if Ptr has shared ownership, false if it has no ownership.

startTime()

Returns the startTime of the trajectory

Return type

float

Returns

Start time

property thisown

The membership flag

x(t)

Position of trajectory at time t

Returns the position of the trajectory at time t \(\in[startTime(), endTime()]\).

Parameters

t (float) – [in] time between startTime() and endTime()

Return type

rw::math::Rotation3D< float >

Returns

Position

sdurw_trajectory.sdurw_trajectory.TrajectorySE3

alias of TrajectoryTransform3D

sdurw_trajectory.sdurw_trajectory.TrajectorySO3

alias of TrajectoryRotation3D

class sdurw_trajectory.sdurw_trajectory.TrajectorySequenceQ(*args, **kwargs)

Bases: TrajectoryQ

Combines a number of trajectories.

Takes an arbitrary number of trajectories and combines them. The start time of the first trajectory determines the start time of the union. The remaining trajectories are appended discardless of their start time. The duration of the union corresponds to the sum of the duration of all the trajectories.

The value returned in the transition between two trajectories, corresponds to the end point of the leading trajectory.

Access to a value is O(lg n) with n being the number of trajectories combined.

__init__(*args, **kwargs)

ddx(t)

Acceleration of trajectory at time t

Returns the acceleration of the trajectory at time t \(\in[startTime(),endTime()]\).

Parameters

t (float) – [in] time between startTime() and endTime()

Return type

Q

Returns

Acceleration

duration()

Total duration of the trajectory.

The duration of the Trajectory corresponds to the time it takes to

run through it.

If the trajectory is empty, then -1 is returned.

dx(t)

Velocity of trajectory at time t

Returns the velocity of the trajectory at time t \(\in[startTime(), endTime()]\).

Parameters

t (float) – [in] time between startTime() and endTime()

Return type

Q

Returns

Velocity

getIterator(dt)

Returns a bi-directional interator for running through the trajectory.

For some trajectory types it may be significantly more efficient to run through using an iterator, rather than using random access.

Parameters

dt (float, optional) – [in] The default time step used when using the ++ or – operators in the iterator

Pointer to the iterator. The pointer has ownership.

startTime()

Returns the startTime of the trajectory

Return type

float

Returns

Start time

property thisown

The membership flag

x(t)

Position of trajectory at time t

Returns the position of the trajectory at time t \(\in[startTime(), endTime()]\).

Parameters

t (float) – [in] time between startTime() and endTime()

Return type

Q

Returns

Position

class sdurw_trajectory.sdurw_trajectory.TrajectorySequenceQCPtr(*args)

Bases: object

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

__init__(*args)

Overload 1:

Default constructor yielding a NULL-pointer.

Overload 2:

Do not take ownership of ptr.

ptr can be null.

The constructor is implicit on purpose.

ddx(t)

deref()

The pointer stored in the object.

duration()

dx(t)

endTime()

Returns the endTime of the trajectory.

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

Return type

float

Returns

The end time

getDeref()

Member access operator.

getIterator(dt)

isNull()

checks if the pointer is null :rtype: boolean :return: Returns true if the pointer is null

isShared()

check if this Ptr has shared ownership or none ownership :rtype: boolean :return: true if Ptr has shared ownership, false if it has no ownership.

startTime()

property thisown

The membership flag

x(t)

class sdurw_trajectory.sdurw_trajectory.TrajectorySequenceQPtr(*args)

Bases: object

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

__init__(*args)

Overload 1:

Default constructor yielding a NULL-pointer.

Overload 2:

Do not take ownership of ptr.

ptr can be null.

The constructor is implicit on purpose.

cptr()

ddx(t)

deref()

The pointer stored in the object.

duration()

dx(t)

endTime()

Returns the endTime of the trajectory.

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

Return type

float

Returns

The end time

getDeref()

Member access operator.

getIterator(dt)

getPath(dt, uniform=True)

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 (float) – [in] Step size

• uniform (boolean, optional) – [in] Whether to sample the path uniformly

Return type

std::vector< rw::math::Q >

Returns

The discrete path.

isNull()

checks if the pointer is null :rtype: boolean :return: Returns true if the pointer is null

isShared()

check if this Ptr has shared ownership or none ownership :rtype: boolean :return: true if Ptr has shared ownership, false if it has no ownership.

startTime()

property thisown

The membership flag

x(t)

sdurw_trajectory.sdurw_trajectory.TrajectorySequenceR1

alias of TrajectorySequence_d

sdurw_trajectory.sdurw_trajectory.TrajectorySequenceR2

alias of TrajectorySequenceVector2D

sdurw_trajectory.sdurw_trajectory.TrajectorySequenceR3

alias of TrajectorySequenceVector3D

class sdurw_trajectory.sdurw_trajectory.TrajectorySequenceRotation3D(*args, **kwargs)

Bases: TrajectoryRotation3D

Combines a number of trajectories.

Takes an arbitrary number of trajectories and combines them. The start time of the first trajectory determines the start time of the union. The remaining trajectories are appended discardless of their start time. The duration of the union corresponds to the sum of the duration of all the trajectories.

The value returned in the transition between two trajectories, corresponds to the end point of the leading trajectory.

Access to a value is O(lg n) with n being the number of trajectories combined.

__init__(*args, **kwargs)

ddx(t)

Acceleration of trajectory at time t

Returns the acceleration of the trajectory at time t \(\in[startTime(),endTime()]\).

Parameters

t (float) – [in] time between startTime() and endTime()

Return type

rw::math::Rotation3D< double >

Returns

Acceleration

duration()

Total duration of the trajectory.

The duration of the Trajectory corresponds to the time it takes to

run through it.

If the trajectory is empty, then -1 is returned.

dx(t)

Velocity of trajectory at time t

Returns the velocity of the trajectory at time t \(\in[startTime(), endTime()]\).

Parameters

t (float) – [in] time between startTime() and endTime()

Return type

rw::math::Rotation3D< double >

Returns

Velocity

getIterator(dt)

Returns a bi-directional interator for running through the trajectory.

For some trajectory types it may be significantly more efficient to run through using an iterator, rather than using random access.

Parameters

dt (float, optional) – [in] The default time step used when using the ++ or – operators in the iterator

Pointer to the iterator. The pointer has ownership.

startTime()

Returns the startTime of the trajectory

Return type

float

Returns

Start time

property thisown

The membership flag

x(t)

Position of trajectory at time t

Returns the position of the trajectory at time t \(\in[startTime(), endTime()]\).

Parameters

t (float) – [in] time between startTime() and endTime()

Return type

rw::math::Rotation3D< double >

Returns

Position

class sdurw_trajectory.sdurw_trajectory.TrajectorySequenceRotation3DCPtr(*args)

Bases: object

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

__init__(*args)

Overload 1:

Default constructor yielding a NULL-pointer.

Overload 2:

Do not take ownership of ptr.

ptr can be null.

The constructor is implicit on purpose.

ddx(t)

deref()

The pointer stored in the object.

duration()

dx(t)

endTime()

Returns the endTime of the trajectory.

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

Return type

float

Returns

The end time

getDeref()

Member access operator.

getIterator(dt)

isNull()

checks if the pointer is null :rtype: boolean :return: Returns true if the pointer is null

isShared()

check if this Ptr has shared ownership or none ownership :rtype: boolean :return: true if Ptr has shared ownership, false if it has no ownership.

startTime()

property thisown

The membership flag

x(t)

class sdurw_trajectory.sdurw_trajectory.TrajectorySequenceRotation3DPtr(*args)

Bases: object

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

__init__(*args)

Overload 1:

Default constructor yielding a NULL-pointer.

Overload 2:

Do not take ownership of ptr.

ptr can be null.

The constructor is implicit on purpose.

cptr()

ddx(t)

deref()

The pointer stored in the object.

duration()

dx(t)

endTime()

Returns the endTime of the trajectory.

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

Return type

float

Returns

The end time

getDeref()

Member access operator.

getIterator(dt)

getPath(dt, uniform=True)

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 (float) – [in] Step size

• uniform (boolean, optional) – [in] Whether to sample the path uniformly

Return type

std::vector< rw::math::Rotation3D< double > >

Returns

The discrete path.

isNull()

checks if the pointer is null :rtype: boolean :return: Returns true if the pointer is null

isShared()

check if this Ptr has shared ownership or none ownership :rtype: boolean :return: true if Ptr has shared ownership, false if it has no ownership.

startTime()

property thisown

The membership flag

x(t)

class sdurw_trajectory.sdurw_trajectory.TrajectorySequenceRotation3D_f(*args, **kwargs)

Bases: TrajectoryRotation3D_f

Combines a number of trajectories.

Takes an arbitrary number of trajectories and combines them. The start time of the first trajectory determines the start time of the union. The remaining trajectories are appended discardless of their start time. The duration of the union corresponds to the sum of the duration of all the trajectories.

The value returned in the transition between two trajectories, corresponds to the end point of the leading trajectory.

Access to a value is O(lg n) with n being the number of trajectories combined.

__init__(*args, **kwargs)

ddx(t)

Acceleration of trajectory at time t

Returns the acceleration of the trajectory at time t \(\in[startTime(),endTime()]\).

Parameters

t (float) – [in] time between startTime() and endTime()

Return type

rw::math::Rotation3D< float >

Returns

Acceleration

duration()

Total duration of the trajectory.

The duration of the Trajectory corresponds to the time it takes to

run through it.

If the trajectory is empty, then -1 is returned.

dx(t)

Velocity of trajectory at time t

Returns the velocity of the trajectory at time t \(\in[startTime(), endTime()]\).

Parameters

t (float) – [in] time between startTime() and endTime()

Return type

rw::math::Rotation3D< float >

Returns

Velocity

getIterator(dt)

Returns a bi-directional interator for running through the trajectory.

For some trajectory types it may be significantly more efficient to run through using an iterator, rather than using random access.

Parameters

dt (float, optional) – [in] The default time step used when using the ++ or – operators in the iterator

Pointer to the iterator. The pointer has ownership.

startTime()

Returns the startTime of the trajectory

Return type

float

Returns

Start time

property thisown

The membership flag

x(t)

Position of trajectory at time t

Returns the position of the trajectory at time t \(\in[startTime(), endTime()]\).

Parameters

t (float) – [in] time between startTime() and endTime()

Return type

rw::math::Rotation3D< float >

Returns

Position

class sdurw_trajectory.sdurw_trajectory.TrajectorySequenceRotation3D_fCPtr(*args)

Bases: object

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

__init__(*args)

Overload 1:

Default constructor yielding a NULL-pointer.

Overload 2:

Do not take ownership of ptr.

ptr can be null.

The constructor is implicit on purpose.

ddx(t)

deref()

The pointer stored in the object.

duration()

dx(t)

endTime()

Returns the endTime of the trajectory.

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

Return type

float

Returns

The end time

getDeref()

Member access operator.

getIterator(dt)

isNull()

checks if the pointer is null :rtype: boolean :return: Returns true if the pointer is null

isShared()

check if this Ptr has shared ownership or none ownership :rtype: boolean :return: true if Ptr has shared ownership, false if it has no ownership.

startTime()

property thisown

The membership flag

x(t)

class sdurw_trajectory.sdurw_trajectory.TrajectorySequenceRotation3D_fPtr(*args)

Bases: object

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

__init__(*args)

Overload 1:

Default constructor yielding a NULL-pointer.

Overload 2:

Do not take ownership of ptr.

ptr can be null.

The constructor is implicit on purpose.

cptr()

ddx(t)

deref()

The pointer stored in the object.

duration()

dx(t)

endTime()

Returns the endTime of the trajectory.

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

Return type

float

Returns

The end time

getDeref()

Member access operator.

getIterator(dt)

getPath(dt, uniform=True)

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 (float) – [in] Step size

• uniform (boolean, optional) – [in] Whether to sample the path uniformly

Return type

std::vector< rw::math::Rotation3D< float > >

Returns

The discrete path.

isNull()

checks if the pointer is null :rtype: boolean :return: Returns true if the pointer is null

isShared()

check if this Ptr has shared ownership or none ownership :rtype: boolean :return: true if Ptr has shared ownership, false if it has no ownership.

startTime()

property thisown

The membership flag

x(t)

sdurw_trajectory.sdurw_trajectory.TrajectorySequenceSE3

alias of TrajectorySequenceTransform3D

sdurw_trajectory.sdurw_trajectory.TrajectorySequenceSO3

alias of TrajectorySequenceRotation3D

class sdurw_trajectory.sdurw_trajectory.TrajectorySequenceTransform3D(*args, **kwargs)

Bases: TrajectoryTransform3D

Combines a number of trajectories.

Takes an arbitrary number of trajectories and combines them. The start time of the first trajectory determines the start time of the union. The remaining trajectories are appended discardless of their start time. The duration of the union corresponds to the sum of the duration of all the trajectories.

The value returned in the transition between two trajectories, corresponds to the end point of the leading trajectory.

Access to a value is O(lg n) with n being the number of trajectories combined.

__init__(*args, **kwargs)

ddx(t)

Acceleration of trajectory at time t

Returns the acceleration of the trajectory at time t \(\in[startTime(),endTime()]\).

Parameters

t (float) – [in] time between startTime() and endTime()

Return type

rw::math::Transform3D< double >

Returns

Acceleration

duration()

Total duration of the trajectory.

The duration of the Trajectory corresponds to the time it takes to

run through it.

If the trajectory is empty, then -1 is returned.

dx(t)

Velocity of trajectory at time t

Returns the velocity of the trajectory at time t \(\in[startTime(), endTime()]\).

Parameters

t (float) – [in] time between startTime() and endTime()

Return type

rw::math::Transform3D< double >

Returns

Velocity

getIterator(dt)

Returns a bi-directional interator for running through the trajectory.

For some trajectory types it may be significantly more efficient to run through using an iterator, rather than using random access.

Parameters

dt (float, optional) – [in] The default time step used when using the ++ or – operators in the iterator

Pointer to the iterator. The pointer has ownership.

startTime()

Returns the startTime of the trajectory

Return type

float

Returns

Start time

property thisown

The membership flag

x(t)

Position of trajectory at time t

Returns the position of the trajectory at time t \(\in[startTime(), endTime()]\).

Parameters

t (float) – [in] time between startTime() and endTime()

Return type

rw::math::Transform3D< double >

Returns

Position

class sdurw_trajectory.sdurw_trajectory.TrajectorySequenceTransform3DCPtr(*args)

Bases: object

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

__init__(*args)

Overload 1:

Default constructor yielding a NULL-pointer.

Overload 2:

Do not take ownership of ptr.

ptr can be null.

The constructor is implicit on purpose.

ddx(t)

deref()

The pointer stored in the object.

duration()

dx(t)

endTime()

Returns the endTime of the trajectory.

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

Return type

float

Returns

The end time

getDeref()

Member access operator.

getIterator(dt)

isNull()

checks if the pointer is null :rtype: boolean :return: Returns true if the pointer is null

isShared()

check if this Ptr has shared ownership or none ownership :rtype: boolean :return: true if Ptr has shared ownership, false if it has no ownership.

startTime()

property thisown

The membership flag

x(t)

class sdurw_trajectory.sdurw_trajectory.TrajectorySequenceTransform3DPtr(*args)

Bases: object

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

__init__(*args)

Overload 1:

Default constructor yielding a NULL-pointer.

Overload 2:

Do not take ownership of ptr.

ptr can be null.

The constructor is implicit on purpose.

cptr()

ddx(t)

deref()

The pointer stored in the object.

duration()

dx(t)

endTime()

Returns the endTime of the trajectory.

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

Return type

float

Returns

The end time

getDeref()

Member access operator.

getIterator(dt)

getPath(dt, uniform=True)

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 (float) – [in] Step size

• uniform (boolean, optional) – [in] Whether to sample the path uniformly

Return type

std::vector< rw::math::Transform3D< double > >

Returns

The discrete path.

isNull()

checks if the pointer is null :rtype: boolean :return: Returns true if the pointer is null

isShared()

check if this Ptr has shared ownership or none ownership :rtype: boolean :return: true if Ptr has shared ownership, false if it has no ownership.

startTime()

property thisown

The membership flag

x(t)

class sdurw_trajectory.sdurw_trajectory.TrajectorySequenceTransform3D_f(*args, **kwargs)

Bases: TrajectoryTransform3D_f

Combines a number of trajectories.

Takes an arbitrary number of trajectories and combines them. The start time of the first trajectory determines the start time of the union. The remaining trajectories are appended discardless of their start time. The duration of the union corresponds to the sum of the duration of all the trajectories.

The value returned in the transition between two trajectories, corresponds to the end point of the leading trajectory.

Access to a value is O(lg n) with n being the number of trajectories combined.

__init__(*args, **kwargs)

ddx(t)

Acceleration of trajectory at time t

Returns the acceleration of the trajectory at time t \(\in[startTime(),endTime()]\).

Parameters

t (float) – [in] time between startTime() and endTime()

Return type

rw::math::Transform3D< float >

Returns

Acceleration

duration()

Total duration of the trajectory.

The duration of the Trajectory corresponds to the time it takes to

run through it.

If the trajectory is empty, then -1 is returned.

dx(t)

Velocity of trajectory at time t

Returns the velocity of the trajectory at time t \(\in[startTime(), endTime()]\).

Parameters

t (float) – [in] time between startTime() and endTime()

Return type

rw::math::Transform3D< float >

Returns

Velocity

getIterator(dt)

Returns a bi-directional interator for running through the trajectory.

For some trajectory types it may be significantly more efficient to run through using an iterator, rather than using random access.

Parameters

dt (float, optional) – [in] The default time step used when using the ++ or – operators in the iterator

Pointer to the iterator. The pointer has ownership.

startTime()

Returns the startTime of the trajectory

Return type

float

Returns

Start time

property thisown

The membership flag

x(t)

Position of trajectory at time t

Returns the position of the trajectory at time t \(\in[startTime(), endTime()]\).

Parameters

t (float) – [in] time between startTime() and endTime()

Return type

rw::math::Transform3D< float >

Returns

Position

class sdurw_trajectory.sdurw_trajectory.TrajectorySequenceTransform3D_fCPtr(*args)

Bases: object

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

__init__(*args)

Overload 1:

Default constructor yielding a NULL-pointer.

Overload 2:

Do not take ownership of ptr.

ptr can be null.

The constructor is implicit on purpose.

ddx(t)

deref()

The pointer stored in the object.

duration()

dx(t)

endTime()

Returns the endTime of the trajectory.

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

Return type

float

Returns

The end time

getDeref()

Member access operator.

getIterator(dt)

isNull()

checks if the pointer is null :rtype: boolean :return: Returns true if the pointer is null

isShared()

check if this Ptr has shared ownership or none ownership :rtype: boolean :return: true if Ptr has shared ownership, false if it has no ownership.

startTime()

property thisown

The membership flag

x(t)

class sdurw_trajectory.sdurw_trajectory.TrajectorySequenceTransform3D_fPtr(*args)

Bases: object

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

__init__(*args)

Overload 1:

Default constructor yielding a NULL-pointer.

Overload 2:

Do not take ownership of ptr.

ptr can be null.

The constructor is implicit on purpose.

cptr()

ddx(t)

deref()

The pointer stored in the object.

duration()

dx(t)

endTime()

Returns the endTime of the trajectory.

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

Return type

float

Returns

The end time

getDeref()

Member access operator.

getIterator(dt)

getPath(dt, uniform=True)

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 (float) – [in] Step size

• uniform (boolean, optional) – [in] Whether to sample the path uniformly

Return type

std::vector< rw::math::Transform3D< float > >

Returns

The discrete path.

isNull()

checks if the pointer is null :rtype: boolean :return: Returns true if the pointer is null

isShared()

check if this Ptr has shared ownership or none ownership :rtype: boolean :return: true if Ptr has shared ownership, false if it has no ownership.

startTime()

property thisown

The membership flag

x(t)

class sdurw_trajectory.sdurw_trajectory.TrajectorySequenceVector2D(*args, **kwargs)

Bases: TrajectoryVector2D

Combines a number of trajectories.

Takes an arbitrary number of trajectories and combines them. The start time of the first trajectory determines the start time of the union. The remaining trajectories are appended discardless of their start time. The duration of the union corresponds to the sum of the duration of all the trajectories.

The value returned in the transition between two trajectories, corresponds to the end point of the leading trajectory.

Access to a value is O(lg n) with n being the number of trajectories combined.

__init__(*args, **kwargs)

ddx(t)

Acceleration of trajectory at time t

Returns the acceleration of the trajectory at time t \(\in[startTime(),endTime()]\).

Parameters

t (float) – [in] time between startTime() and endTime()

Return type

rw::math::Vector2D< double >

Returns

Acceleration

duration()

Total duration of the trajectory.

The duration of the Trajectory corresponds to the time it takes to

run through it.

If the trajectory is empty, then -1 is returned.

dx(t)

Velocity of trajectory at time t

Returns the velocity of the trajectory at time t \(\in[startTime(), endTime()]\).

Parameters

t (float) – [in] time between startTime() and endTime()

Return type

rw::math::Vector2D< double >

Returns

Velocity

getIterator(dt)

Returns a bi-directional interator for running through the trajectory.

For some trajectory types it may be significantly more efficient to run through using an iterator, rather than using random access.

Parameters

dt (float, optional) – [in] The default time step used when using the ++ or – operators in the iterator

Pointer to the iterator. The pointer has ownership.

startTime()

Returns the startTime of the trajectory

Return type

float

Returns

Start time

property thisown

The membership flag

x(t)

Position of trajectory at time t

Returns the position of the trajectory at time t \(\in[startTime(), endTime()]\).

Parameters

t (float) – [in] time between startTime() and endTime()

Return type

rw::math::Vector2D< double >

Returns

Position

class sdurw_trajectory.sdurw_trajectory.TrajectorySequenceVector2DCPtr(*args)

Bases: object

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

__init__(*args)

Overload 1:

Default constructor yielding a NULL-pointer.

Overload 2:

Do not take ownership of ptr.

ptr can be null.

The constructor is implicit on purpose.

ddx(t)

deref()

The pointer stored in the object.

duration()

dx(t)

endTime()

Returns the endTime of the trajectory.

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

Return type

float

Returns

The end time

getDeref()

Member access operator.

getIterator(dt)

isNull()

checks if the pointer is null :rtype: boolean :return: Returns true if the pointer is null

isShared()

check if this Ptr has shared ownership or none ownership :rtype: boolean :return: true if Ptr has shared ownership, false if it has no ownership.

startTime()

property thisown

The membership flag

x(t)

class sdurw_trajectory.sdurw_trajectory.TrajectorySequenceVector2DPtr(*args)

Bases: object

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

__init__(*args)

Overload 1:

Default constructor yielding a NULL-pointer.

Overload 2:

Do not take ownership of ptr.

ptr can be null.

The constructor is implicit on purpose.

cptr()

ddx(t)

deref()

The pointer stored in the object.

duration()

dx(t)

endTime()

Returns the endTime of the trajectory.

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

Return type

float

Returns

The end time

getDeref()

Member access operator.

getIterator(dt)

getPath(dt, uniform=True)

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 (float) – [in] Step size

• uniform (boolean, optional) – [in] Whether to sample the path uniformly

Return type

std::vector< rw::math::Vector2D< double > >

Returns

The discrete path.

isNull()

checks if the pointer is null :rtype: boolean :return: Returns true if the pointer is null

isShared()

check if this Ptr has shared ownership or none ownership :rtype: boolean :return: true if Ptr has shared ownership, false if it has no ownership.

startTime()

property thisown

The membership flag

x(t)

class sdurw_trajectory.sdurw_trajectory.TrajectorySequenceVector2D_f(*args, **kwargs)

Bases: TrajectoryVector2D_f

Combines a number of trajectories.

Takes an arbitrary number of trajectories and combines them. The start time of the first trajectory determines the start time of the union. The remaining trajectories are appended discardless of their start time. The duration of the union corresponds to the sum of the duration of all the trajectories.

The value returned in the transition between two trajectories, corresponds to the end point of the leading trajectory.

Access to a value is O(lg n) with n being the number of trajectories combined.

__init__(*args, **kwargs)

ddx(t)

Acceleration of trajectory at time t

Returns the acceleration of the trajectory at time t \(\in[startTime(),endTime()]\).

Parameters

t (float) – [in] time between startTime() and endTime()

Return type

rw::math::Vector2D< float >

Returns

Acceleration

duration()

Total duration of the trajectory.

The duration of the Trajectory corresponds to the time it takes to

run through it.

If the trajectory is empty, then -1 is returned.

dx(t)

Velocity of trajectory at time t

Returns the velocity of the trajectory at time t \(\in[startTime(), endTime()]\).

Parameters

t (float) – [in] time between startTime() and endTime()

Return type

rw::math::Vector2D< float >

Returns

Velocity

getIterator(dt)

Returns a bi-directional interator for running through the trajectory.

For some trajectory types it may be significantly more efficient to run through using an iterator, rather than using random access.

Parameters

dt (float, optional) – [in] The default time step used when using the ++ or – operators in the iterator

Pointer to the iterator. The pointer has ownership.

startTime()

Returns the startTime of the trajectory

Return type

float

Returns

Start time

property thisown

The membership flag

x(t)

Position of trajectory at time t

Returns the position of the trajectory at time t \(\in[startTime(), endTime()]\).

Parameters

t (float) – [in] time between startTime() and endTime()

Return type

rw::math::Vector2D< float >

Returns

Position

class sdurw_trajectory.sdurw_trajectory.TrajectorySequenceVector2D_fCPtr(*args)

Bases: object

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

__init__(*args)

Overload 1:

Default constructor yielding a NULL-pointer.

Overload 2:

Do not take ownership of ptr.

ptr can be null.

The constructor is implicit on purpose.

ddx(t)

deref()

The pointer stored in the object.

duration()

dx(t)

endTime()

Returns the endTime of the trajectory.

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

Return type

float

Returns

The end time

getDeref()

Member access operator.

getIterator(dt)

isNull()

checks if the pointer is null :rtype: boolean :return: Returns true if the pointer is null

isShared()

check if this Ptr has shared ownership or none ownership :rtype: boolean :return: true if Ptr has shared ownership, false if it has no ownership.

startTime()

property thisown

The membership flag

x(t)

class sdurw_trajectory.sdurw_trajectory.TrajectorySequenceVector2D_fPtr(*args)

Bases: object

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

__init__(*args)

Overload 1:

Default constructor yielding a NULL-pointer.

Overload 2:

Do not take ownership of ptr.

ptr can be null.

The constructor is implicit on purpose.

cptr()

ddx(t)

deref()

The pointer stored in the object.

duration()

dx(t)

endTime()

Returns the endTime of the trajectory.

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

Return type

float

Returns

The end time

getDeref()

Member access operator.

getIterator(dt)

getPath(dt, uniform=True)

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 (float) – [in] Step size

• uniform (boolean, optional) – [in] Whether to sample the path uniformly

Return type

std::vector< rw::math::Vector2D< float > >

Returns

The discrete path.

isNull()

checks if the pointer is null :rtype: boolean :return: Returns true if the pointer is null

isShared()

check if this Ptr has shared ownership or none ownership :rtype: boolean :return: true if Ptr has shared ownership, false if it has no ownership.

startTime()

property thisown

The membership flag

x(t)

class sdurw_trajectory.sdurw_trajectory.TrajectorySequenceVector3D(*args, **kwargs)

Bases: TrajectoryVector3D

Combines a number of trajectories.

Takes an arbitrary number of trajectories and combines them. The start time of the first trajectory determines the start time of the union. The remaining trajectories are appended discardless of their start time. The duration of the union corresponds to the sum of the duration of all the trajectories.

The value returned in the transition between two trajectories, corresponds to the end point of the leading trajectory.

Access to a value is O(lg n) with n being the number of trajectories combined.

__init__(*args, **kwargs)

ddx(t)

Acceleration of trajectory at time t

Returns the acceleration of the trajectory at time t \(\in[startTime(),endTime()]\).

Parameters

t (float) – [in] time between startTime() and endTime()

Return type

rw::math::Vector3D< double >

Returns

Acceleration

duration()

Total duration of the trajectory.

The duration of the Trajectory corresponds to the time it takes to

run through it.

If the trajectory is empty, then -1 is returned.

dx(t)

Velocity of trajectory at time t

Returns the velocity of the trajectory at time t \(\in[startTime(), endTime()]\).

Parameters

t (float) – [in] time between startTime() and endTime()

Return type

rw::math::Vector3D< double >

Returns

Velocity

getIterator(dt)

Returns a bi-directional interator for running through the trajectory.

For some trajectory types it may be significantly more efficient to run through using an iterator, rather than using random access.

Parameters

dt (float, optional) – [in] The default time step used when using the ++ or – operators in the iterator

Pointer to the iterator. The pointer has ownership.

startTime()

Returns the startTime of the trajectory

Return type

float

Returns

Start time

property thisown

The membership flag

x(t)

Position of trajectory at time t

Returns the position of the trajectory at time t \(\in[startTime(), endTime()]\).

Parameters

t (float) – [in] time between startTime() and endTime()

Return type

rw::math::Vector3D< double >

Returns

Position

class sdurw_trajectory.sdurw_trajectory.TrajectorySequenceVector3DCPtr(*args)

Bases: object

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

__init__(*args)

Overload 1:

Default constructor yielding a NULL-pointer.

Overload 2:

Do not take ownership of ptr.

ptr can be null.

The constructor is implicit on purpose.

ddx(t)

deref()

The pointer stored in the object.

duration()

dx(t)

endTime()

Returns the endTime of the trajectory.

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

Return type

float

Returns

The end time

getDeref()

Member access operator.

getIterator(dt)

isNull()

checks if the pointer is null :rtype: boolean :return: Returns true if the pointer is null

isShared()

check if this Ptr has shared ownership or none ownership :rtype: boolean :return: true if Ptr has shared ownership, false if it has no ownership.

startTime()

property thisown

The membership flag

x(t)

class sdurw_trajectory.sdurw_trajectory.TrajectorySequenceVector3DPtr(*args)

Bases: object

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

__init__(*args)

Overload 1:

Default constructor yielding a NULL-pointer.

Overload 2:

Do not take ownership of ptr.

ptr can be null.

The constructor is implicit on purpose.

cptr()

ddx(t)

deref()

The pointer stored in the object.

duration()

dx(t)

endTime()

Returns the endTime of the trajectory.

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

Return type

float

Returns

The end time

getDeref()

Member access operator.

getIterator(dt)

getPath(dt, uniform=True)

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 (float) – [in] Step size

• uniform (boolean, optional) – [in] Whether to sample the path uniformly

Return type

std::vector< rw::math::Vector3D< double > >

Returns

The discrete path.

isNull()

checks if the pointer is null :rtype: boolean :return: Returns true if the pointer is null

isShared()

check if this Ptr has shared ownership or none ownership :rtype: boolean :return: true if Ptr has shared ownership, false if it has no ownership.

startTime()

property thisown

The membership flag

x(t)

class sdurw_trajectory.sdurw_trajectory.TrajectorySequenceVector3D_f(*args, **kwargs)

Bases: TrajectoryVector3D_f

Combines a number of trajectories.

Takes an arbitrary number of trajectories and combines them. The start time of the first trajectory determines the start time of the union. The remaining trajectories are appended discardless of their start time. The duration of the union corresponds to the sum of the duration of all the trajectories.

The value returned in the transition between two trajectories, corresponds to the end point of the leading trajectory.

Access to a value is O(lg n) with n being the number of trajectories combined.

__init__(*args, **kwargs)

ddx(t)

Acceleration of trajectory at time t

Returns the acceleration of the trajectory at time t \(\in[startTime(),endTime()]\).

Parameters

t (float) – [in] time between startTime() and endTime()

Return type

rw::math::Vector3D< float >

Returns

Acceleration

duration()

Total duration of the trajectory.

The duration of the Trajectory corresponds to the time it takes to

run through it.

If the trajectory is empty, then -1 is returned.

dx(t)

Velocity of trajectory at time t

Returns the velocity of the trajectory at time t \(\in[startTime(), endTime()]\).

Parameters

t (float) – [in] time between startTime() and endTime()

Return type

rw::math::Vector3D< float >

Returns

Velocity

getIterator(dt)

Returns a bi-directional interator for running through the trajectory.

For some trajectory types it may be significantly more efficient to run through using an iterator, rather than using random access.

Parameters

dt (float, optional) – [in] The default time step used when using the ++ or – operators in the iterator

Pointer to the iterator. The pointer has ownership.

startTime()

Returns the startTime of the trajectory

Return type

float

Returns

Start time

property thisown

The membership flag

x(t)

Position of trajectory at time t

Returns the position of the trajectory at time t \(\in[startTime(), endTime()]\).

Parameters

t (float) – [in] time between startTime() and endTime()

Return type

rw::math::Vector3D< float >

Returns

Position

class sdurw_trajectory.sdurw_trajectory.TrajectorySequenceVector3D_fCPtr(*args)

Bases: object

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

__init__(*args)

Overload 1:

Default constructor yielding a NULL-pointer.

Overload 2:

Do not take ownership of ptr.

ptr can be null.

The constructor is implicit on purpose.

ddx(t)

deref()

The pointer stored in the object.

duration()

dx(t)

endTime()

Returns the endTime of the trajectory.

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

Return type

float

Returns

The end time

getDeref()

Member access operator.

getIterator(dt)

isNull()

checks if the pointer is null :rtype: boolean :return: Returns true if the pointer is null

isShared()

check if this Ptr has shared ownership or none ownership :rtype: boolean :return: true if Ptr has shared ownership, false if it has no ownership.

startTime()

property thisown

The membership flag

x(t)

class sdurw_trajectory.sdurw_trajectory.TrajectorySequenceVector3D_fPtr(*args)

Bases: object

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

__init__(*args)

Overload 1:

Default constructor yielding a NULL-pointer.

Overload 2:

Do not take ownership of ptr.

ptr can be null.

The constructor is implicit on purpose.

cptr()

ddx(t)

deref()

The pointer stored in the object.

duration()

dx(t)

endTime()

Returns the endTime of the trajectory.

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

Return type

float

Returns

The end time

getDeref()

Member access operator.

getIterator(dt)

getPath(dt, uniform=True)

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 (float) – [in] Step size

• uniform (boolean, optional) – [in] Whether to sample the path uniformly

Return type

std::vector< rw::math::Vector3D< float > >

Returns

The discrete path.

isNull()

checks if the pointer is null :rtype: boolean :return: Returns true if the pointer is null

isShared()

check if this Ptr has shared ownership or none ownership :rtype: boolean :return: true if Ptr has shared ownership, false if it has no ownership.

startTime()

property thisown

The membership flag

x(t)

class sdurw_trajectory.sdurw_trajectory.TrajectorySequence_d(*args, **kwargs)

Bases: Trajectory_d

Combines a number of trajectories.

Takes an arbitrary number of trajectories and combines them. The start time of the first trajectory determines the start time of the union. The remaining trajectories are appended discardless of their start time. The duration of the union corresponds to the sum of the duration of all the trajectories.

The value returned in the transition between two trajectories, corresponds to the end point of the leading trajectory.

Access to a value is O(lg n) with n being the number of trajectories combined.

__init__(*args, **kwargs)

ddx(t)

Acceleration of trajectory at time t

Returns the acceleration of the trajectory at time t \(\in[startTime(),endTime()]\).

Parameters

t (float) – [in] time between startTime() and endTime()

Return type

float

Returns

Acceleration

duration()

Total duration of the trajectory.

The duration of the Trajectory corresponds to the time it takes to

run through it.

If the trajectory is empty, then -1 is returned.

dx(t)

Velocity of trajectory at time t

Returns the velocity of the trajectory at time t \(\in[startTime(), endTime()]\).

Parameters

t (float) – [in] time between startTime() and endTime()

Return type

float

Returns

Velocity

getIterator(dt)

Returns a bi-directional interator for running through the trajectory.

For some trajectory types it may be significantly more efficient to run through using an iterator, rather than using random access.

Parameters

dt (float, optional) – [in] The default time step used when using the ++ or – operators in the iterator

Pointer to the iterator. The pointer has ownership.

startTime()

Returns the startTime of the trajectory

Return type

float

Returns

Start time

property thisown

The membership flag

x(t)

Position of trajectory at time t

Returns the position of the trajectory at time t \(\in[startTime(), endTime()]\).

Parameters

t (float) – [in] time between startTime() and endTime()

Return type

float

Returns

Position

class sdurw_trajectory.sdurw_trajectory.TrajectorySequence_dCPtr(*args)

Bases: object

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

__init__(*args)

Overload 1:

Default constructor yielding a NULL-pointer.

Overload 2:

Do not take ownership of ptr.

ptr can be null.

The constructor is implicit on purpose.

ddx(t)

deref()

The pointer stored in the object.

duration()

dx(t)

endTime()

Returns the endTime of the trajectory.

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

Return type

float

Returns

The end time

getDeref()

Member access operator.

getIterator(dt)

isNull()

checks if the pointer is null :rtype: boolean :return: Returns true if the pointer is null

isShared()

check if this Ptr has shared ownership or none ownership :rtype: boolean :return: true if Ptr has shared ownership, false if it has no ownership.

startTime()

property thisown

The membership flag

x(t)

class sdurw_trajectory.sdurw_trajectory.TrajectorySequence_dPtr(*args)

Bases: object

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

__init__(*args)

Overload 1:

Default constructor yielding a NULL-pointer.

Overload 2:

Do not take ownership of ptr.

ptr can be null.

The constructor is implicit on purpose.

cptr()

ddx(t)

deref()

The pointer stored in the object.

duration()

dx(t)

endTime()

Returns the endTime of the trajectory.

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

Return type

float

Returns

The end time

getDeref()

Member access operator.

getIterator(dt)

getPath(dt, uniform=True)

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 (float) – [in] Step size

• uniform (boolean, optional) – [in] Whether to sample the path uniformly

Return type

std::vector< double >

Returns

The discrete path.

isNull()

checks if the pointer is null :rtype: boolean :return: Returns true if the pointer is null

isShared()

check if this Ptr has shared ownership or none ownership :rtype: boolean :return: true if Ptr has shared ownership, false if it has no ownership.

startTime()

property thisown

The membership flag

x(t)

class sdurw_trajectory.sdurw_trajectory.TrajectorySequence_d_f(*args, **kwargs)

Bases: Trajectory_d_f

Combines a number of trajectories.

Takes an arbitrary number of trajectories and combines them. The start time of the first trajectory determines the start time of the union. The remaining trajectories are appended discardless of their start time. The duration of the union corresponds to the sum of the duration of all the trajectories.

The value returned in the transition between two trajectories, corresponds to the end point of the leading trajectory.

Access to a value is O(lg n) with n being the number of trajectories combined.

__init__(*args, **kwargs)

ddx(t)

Acceleration of trajectory at time t

Returns the acceleration of the trajectory at time t \(\in[startTime(),endTime()]\).

Parameters

t (float) – [in] time between startTime() and endTime()

Return type

float

Returns

Acceleration

duration()

Total duration of the trajectory.

The duration of the Trajectory corresponds to the time it takes to

run through it.

If the trajectory is empty, then -1 is returned.

dx(t)

Velocity of trajectory at time t

Returns the velocity of the trajectory at time t \(\in[startTime(), endTime()]\).

Parameters

t (float) – [in] time between startTime() and endTime()

Return type

float

Returns

Velocity

getIterator(dt)

Returns a bi-directional interator for running through the trajectory.

For some trajectory types it may be significantly more efficient to run through using an iterator, rather than using random access.

Parameters

dt (float, optional) – [in] The default time step used when using the ++ or – operators in the iterator

Pointer to the iterator. The pointer has ownership.

startTime()

Returns the startTime of the trajectory

Return type

float

Returns

Start time

property thisown

The membership flag

x(t)

Position of trajectory at time t

Returns the position of the trajectory at time t \(\in[startTime(), endTime()]\).

Parameters

t (float) – [in] time between startTime() and endTime()

Return type

float

Returns

Position

class sdurw_trajectory.sdurw_trajectory.TrajectorySequence_d_fCPtr(*args)

Bases: object

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

__init__(*args)

Overload 1:

Default constructor yielding a NULL-pointer.

Overload 2:

Do not take ownership of ptr.

ptr can be null.

The constructor is implicit on purpose.

ddx(t)

deref()

The pointer stored in the object.

duration()

dx(t)

endTime()

Returns the endTime of the trajectory.

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

Return type

float

Returns

The end time

getDeref()

Member access operator.

getIterator(dt)

isNull()

checks if the pointer is null :rtype: boolean :return: Returns true if the pointer is null

isShared()

check if this Ptr has shared ownership or none ownership :rtype: boolean :return: true if Ptr has shared ownership, false if it has no ownership.

startTime()

property thisown

The membership flag

x(t)

class sdurw_trajectory.sdurw_trajectory.TrajectorySequence_d_fPtr(*args)

Bases: object

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

__init__(*args)

Overload 1:

Default constructor yielding a NULL-pointer.

Overload 2:

Do not take ownership of ptr.

ptr can be null.

The constructor is implicit on purpose.

cptr()

ddx(t)

deref()

The pointer stored in the object.

duration()

dx(t)

endTime()

Returns the endTime of the trajectory.

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

Return type

float

Returns

The end time

getDeref()

Member access operator.

getIterator(dt)

getPath(dt, uniform=True)

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 (float) – [in] Step size

• uniform (boolean, optional) – [in] Whether to sample the path uniformly

Return type

std::vector< float >

Returns

The discrete path.

isNull()

checks if the pointer is null :rtype: boolean :return: Returns true if the pointer is null

isShared()

check if this Ptr has shared ownership or none ownership :rtype: boolean :return: true if Ptr has shared ownership, false if it has no ownership.

startTime()

property thisown

The membership flag

x(t)

class sdurw_trajectory.sdurw_trajectory.TrajectoryState(*args, **kwargs)

Bases: object

Interface for Trajectories in RobWork

__init__(*args, **kwargs)

ddx(t)

Acceleration of trajectory at time t

Returns the acceleration of the trajectory at time t \(\in[startTime(),endTime()]\).

Parameters

t (float) – [in] time between startTime() and endTime()

Return type

State

Returns

Acceleration

duration()

Total duration of the trajectory.

The duration of the Trajectory corresponds to the time it takes to

run through it.

If the trajectory is empty, then -1 is returned.

dx(t)

Velocity of trajectory at time t

Returns the velocity of the trajectory at time t \(\in[startTime(), endTime()]\).

Parameters

t (float) – [in] time between startTime() and endTime()

Return type

State

Returns

Velocity

endTime()

Returns the endTime of the trajectory.

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

Return type

float

Returns

The end time

getIterator(dt=1)

Returns a bi-directional interator for running through the trajectory.

For some trajectory types it may be significantly more efficient to run through using an iterator, rather than using random access.

Parameters

dt (float, optional) – [in] The default time step used when using the ++ or – operators in the iterator

Pointer to the iterator. The pointer has ownership.

getPath(dt, uniform=True)

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 (float) – [in] Step size

• uniform (boolean, optional) – [in] Whether to sample the path uniformly

Return type

std::vector< rw::kinematics::State >

Returns

The discrete path.

startTime()

Returns the startTime of the trajectory

Return type

float

Returns

Start time

property thisown

The membership flag

x(t)

Position of trajectory at time t

Returns the position of the trajectory at time t \(\in[startTime(), endTime()]\).

Parameters

t (float) – [in] time between startTime() and endTime()

Return type

State

Returns

Position

class sdurw_trajectory.sdurw_trajectory.TrajectoryStatePtr(*args)

Bases: object

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

__init__(*args)

Overload 1:

Default constructor yielding a NULL-pointer.

Overload 2:

Do not take ownership of ptr.

ptr can be null.

The constructor is implicit on purpose.

ddx(t)

Acceleration of trajectory at time t

Returns the acceleration of the trajectory at time t \(\in[startTime(),endTime()]\).

Parameters

t (float) – [in] time between startTime() and endTime()

Return type

State

Returns

Acceleration

deref()

The pointer stored in the object.

duration()

Total duration of the trajectory.

The duration of the Trajectory corresponds to the time it takes to

run through it.

If the trajectory is empty, then -1 is returned.

dx(t)

Velocity of trajectory at time t

Returns the velocity of the trajectory at time t \(\in[startTime(), endTime()]\).

Parameters

t (float) – [in] time between startTime() and endTime()

Return type

State

Returns

Velocity

endTime()

Returns the endTime of the trajectory.

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

Return type

float

Returns

The end time

getDeref()

Member access operator.

getIterator(dt=1)

Returns a bi-directional interator for running through the trajectory.

For some trajectory types it may be significantly more efficient to run through using an iterator, rather than using random access.

Parameters

dt (float, optional) – [in] The default time step used when using the ++ or – operators in the iterator

Pointer to the iterator. The pointer has ownership.

getPath(dt, uniform=True)

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 (float) – [in] Step size

• uniform (boolean, optional) – [in] Whether to sample the path uniformly

Return type

std::vector< rw::kinematics::State >

Returns

The discrete path.

isNull()

checks if the pointer is null :rtype: boolean :return: Returns true if the pointer is null

isShared()

check if this Ptr has shared ownership or none ownership :rtype: boolean :return: true if Ptr has shared ownership, false if it has no ownership.

startTime()

Returns the startTime of the trajectory

Return type

float

Returns

Start time

property thisown

The membership flag

x(t)

Position of trajectory at time t

Returns the position of the trajectory at time t \(\in[startTime(), endTime()]\).

Parameters

t (float) – [in] time between startTime() and endTime()

Return type

State

Returns

Position

class sdurw_trajectory.sdurw_trajectory.TrajectoryTransform3D(*args, **kwargs)

Bases: object

Interface for Trajectories in RobWork

__init__(*args, **kwargs)

ddx(t)

Acceleration of trajectory at time t

Returns the acceleration of the trajectory at time t \(\in[startTime(),endTime()]\).

Parameters

t (float) – [in] time between startTime() and endTime()

Return type

rw::math::Transform3D< double >

Returns

Acceleration

duration()

Total duration of the trajectory.

The duration of the Trajectory corresponds to the time it takes to

run through it.

If the trajectory is empty, then -1 is returned.

dx(t)

Velocity of trajectory at time t

Returns the velocity of the trajectory at time t \(\in[startTime(), endTime()]\).

Parameters

t (float) – [in] time between startTime() and endTime()

Return type

rw::math::Transform3D< double >

Returns

Velocity

endTime()

Returns the endTime of the trajectory.

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

Return type

float

Returns

The end time

getIterator(dt=1)

Returns a bi-directional interator for running through the trajectory.

For some trajectory types it may be significantly more efficient to run through using an iterator, rather than using random access.

Parameters

dt (float, optional) – [in] The default time step used when using the ++ or – operators in the iterator

Pointer to the iterator. The pointer has ownership.

getPath(dt, uniform=True)

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 (float) – [in] Step size

• uniform (boolean, optional) – [in] Whether to sample the path uniformly

Return type

std::vector< rw::math::Transform3D< double > >

Returns

The discrete path.

startTime()

Returns the startTime of the trajectory

Return type

float

Returns

Start time

property thisown

The membership flag

x(t)

Position of trajectory at time t

Returns the position of the trajectory at time t \(\in[startTime(), endTime()]\).

Parameters

t (float) – [in] time between startTime() and endTime()

Return type

rw::math::Transform3D< double >

Returns

Position

class sdurw_trajectory.sdurw_trajectory.TrajectoryTransform3DCPtr(*args)

Bases: object

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

__init__(*args)

Overload 1:

Default constructor yielding a NULL-pointer.

Overload 2:

Do not take ownership of ptr.

ptr can be null.

The constructor is implicit on purpose.

ddx(t)

Acceleration of trajectory at time t

Returns the acceleration of the trajectory at time t \(\in[startTime(),endTime()]\).

Parameters

t (float) – [in] time between startTime() and endTime()

Return type

rw::math::Transform3D< double >

Returns

Acceleration

deref()

The pointer stored in the object.

duration()

Total duration of the trajectory.

The duration of the Trajectory corresponds to the time it takes to

run through it.

If the trajectory is empty, then -1 is returned.

dx(t)

Velocity of trajectory at time t

Returns the velocity of the trajectory at time t \(\in[startTime(), endTime()]\).

Parameters

t (float) – [in] time between startTime() and endTime()

Return type

rw::math::Transform3D< double >

Returns

Velocity

endTime()

Returns the endTime of the trajectory.

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

Return type

float

Returns

The end time

getDeref()

Member access operator.

getIterator(dt=1)

Returns a bi-directional interator for running through the trajectory.

For some trajectory types it may be significantly more efficient to run through using an iterator, rather than using random access.

Parameters

dt (float, optional) – [in] The default time step used when using the ++ or – operators in the iterator

Pointer to the iterator. The pointer has ownership.

isNull()

checks if the pointer is null :rtype: boolean :return: Returns true if the pointer is null

isShared()

check if this Ptr has shared ownership or none ownership :rtype: boolean :return: true if Ptr has shared ownership, false if it has no ownership.

startTime()

Returns the startTime of the trajectory

Return type

float

Returns

Start time

property thisown

The membership flag

x(t)

Position of trajectory at time t

Returns the position of the trajectory at time t \(\in[startTime(), endTime()]\).

Parameters

t (float) – [in] time between startTime() and endTime()

Return type

rw::math::Transform3D< double >

Returns

Position

class sdurw_trajectory.sdurw_trajectory.TrajectoryTransform3DPtr(*args)

Bases: object

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

__init__(*args)

Overload 1:

Default constructor yielding a NULL-pointer.

Overload 2:

Do not take ownership of ptr.

ptr can be null.

The constructor is implicit on purpose.

cptr()

ddx(t)

Acceleration of trajectory at time t

Returns the acceleration of the trajectory at time t \(\in[startTime(),endTime()]\).

Parameters

t (float) – [in] time between startTime() and endTime()

Return type

rw::math::Transform3D< double >

Returns

Acceleration

deref()

The pointer stored in the object.

duration()

Total duration of the trajectory.

The duration of the Trajectory corresponds to the time it takes to

run through it.

If the trajectory is empty, then -1 is returned.

dx(t)

Velocity of trajectory at time t

Returns the velocity of the trajectory at time t \(\in[startTime(), endTime()]\).

Parameters

t (float) – [in] time between startTime() and endTime()

Return type

rw::math::Transform3D< double >

Returns

Velocity

endTime()

Returns the endTime of the trajectory.

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

Return type

float

Returns

The end time

getDeref()

Member access operator.

getIterator(dt=1)

Returns a bi-directional interator for running through the trajectory.

For some trajectory types it may be significantly more efficient to run through using an iterator, rather than using random access.

Parameters

dt (float, optional) – [in] The default time step used when using the ++ or – operators in the iterator

Pointer to the iterator. The pointer has ownership.

getPath(dt, uniform=True)

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 (float) – [in] Step size

• uniform (boolean, optional) – [in] Whether to sample the path uniformly

Return type

std::vector< rw::math::Transform3D< double > >

Returns

The discrete path.

isNull()

checks if the pointer is null :rtype: boolean :return: Returns true if the pointer is null

isShared()

check if this Ptr has shared ownership or none ownership :rtype: boolean :return: true if Ptr has shared ownership, false if it has no ownership.

startTime()

Returns the startTime of the trajectory

Return type

float

Returns

Start time

property thisown

The membership flag

x(t)

Position of trajectory at time t

Returns the position of the trajectory at time t \(\in[startTime(), endTime()]\).

Parameters

t (float) – [in] time between startTime() and endTime()

Return type

rw::math::Transform3D< double >

Returns

Position

class sdurw_trajectory.sdurw_trajectory.TrajectoryTransform3DVector(*args, **kwargs)

Bases: object

Interface for Trajectories in RobWork

__init__(*args, **kwargs)

ddx(t)

Acceleration of trajectory at time t

Returns the acceleration of the trajectory at time t \(\in[startTime(),endTime()]\).

Parameters

t (float) – [in] time between startTime() and endTime()

Return type

rw::math::Transform3DVector< double >

Returns

Acceleration

duration()

Total duration of the trajectory.

The duration of the Trajectory corresponds to the time it takes to

run through it.

If the trajectory is empty, then -1 is returned.

dx(t)

Velocity of trajectory at time t

Returns the velocity of the trajectory at time t \(\in[startTime(), endTime()]\).

Parameters

t (float) – [in] time between startTime() and endTime()

Return type

rw::math::Transform3DVector< double >

Returns

Velocity

endTime()

Returns the endTime of the trajectory.

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

Return type

float

Returns

The end time

getIterator(dt=1)

Returns a bi-directional interator for running through the trajectory.

For some trajectory types it may be significantly more efficient to run through using an iterator, rather than using random access.

Parameters

dt (float, optional) – [in] The default time step used when using the ++ or – operators in the iterator

Pointer to the iterator. The pointer has ownership.

getPath(dt, uniform=True)

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 (float) – [in] Step size

• uniform (boolean, optional) – [in] Whether to sample the path uniformly

Return type

std::vector< rw::math::Transform3DVector< double > >

Returns

The discrete path.

startTime()

Returns the startTime of the trajectory

Return type

float

Returns

Start time

property thisown

The membership flag

x(t)

Position of trajectory at time t

Returns the position of the trajectory at time t \(\in[startTime(), endTime()]\).

Parameters

t (float) – [in] time between startTime() and endTime()

Return type

rw::math::Transform3DVector< double >

Returns

Position

class sdurw_trajectory.sdurw_trajectory.TrajectoryTransform3DVector_f(*args, **kwargs)

Bases: object

Interface for Trajectories in RobWork

__init__(*args, **kwargs)

ddx(t)

Acceleration of trajectory at time t

Returns the acceleration of the trajectory at time t \(\in[startTime(),endTime()]\).

Parameters

t (float) – [in] time between startTime() and endTime()

Return type

rw::math::Transform3DVector< float >

Returns

Acceleration

duration()

Total duration of the trajectory.

The duration of the Trajectory corresponds to the time it takes to

run through it.

If the trajectory is empty, then -1 is returned.

dx(t)

Velocity of trajectory at time t

Returns the velocity of the trajectory at time t \(\in[startTime(), endTime()]\).

Parameters

t (float) – [in] time between startTime() and endTime()

Return type

rw::math::Transform3DVector< float >

Returns

Velocity

endTime()

Returns the endTime of the trajectory.

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

Return type

float

Returns

The end time

getIterator(dt=1)

Returns a bi-directional interator for running through the trajectory.

For some trajectory types it may be significantly more efficient to run through using an iterator, rather than using random access.

Parameters

dt (float, optional) – [in] The default time step used when using the ++ or – operators in the iterator

Pointer to the iterator. The pointer has ownership.

getPath(dt, uniform=True)

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 (float) – [in] Step size

• uniform (boolean, optional) – [in] Whether to sample the path uniformly

Return type

std::vector< rw::math::Transform3DVector< float > >

Returns

The discrete path.

startTime()

Returns the startTime of the trajectory

Return type

float

Returns

Start time

property thisown

The membership flag

x(t)

Position of trajectory at time t

Returns the position of the trajectory at time t \(\in[startTime(), endTime()]\).

Parameters

t (float) – [in] time between startTime() and endTime()

Return type

rw::math::Transform3DVector< float >

Returns

Position

class sdurw_trajectory.sdurw_trajectory.TrajectoryTransform3D_f(*args, **kwargs)

Bases: object

Interface for Trajectories in RobWork

__init__(*args, **kwargs)

ddx(t)

Acceleration of trajectory at time t

Returns the acceleration of the trajectory at time t \(\in[startTime(),endTime()]\).

Parameters

t (float) – [in] time between startTime() and endTime()

Return type

rw::math::Transform3D< float >

Returns

Acceleration

duration()

Total duration of the trajectory.

The duration of the Trajectory corresponds to the time it takes to

run through it.

If the trajectory is empty, then -1 is returned.

dx(t)

Velocity of trajectory at time t

Returns the velocity of the trajectory at time t \(\in[startTime(), endTime()]\).

Parameters

t (float) – [in] time between startTime() and endTime()

Return type

rw::math::Transform3D< float >

Returns

Velocity

endTime()

Returns the endTime of the trajectory.

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

Return type

float

Returns

The end time

getIterator(dt=1)

Returns a bi-directional interator for running through the trajectory.

For some trajectory types it may be significantly more efficient to run through using an iterator, rather than using random access.

Parameters

dt (float, optional) – [in] The default time step used when using the ++ or – operators in the iterator

Pointer to the iterator. The pointer has ownership.

getPath(dt, uniform=True)

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 (float) – [in] Step size

• uniform (boolean, optional) – [in] Whether to sample the path uniformly

Return type

std::vector< rw::math::Transform3D< float > >

Returns

The discrete path.

startTime()

Returns the startTime of the trajectory

Return type

float

Returns

Start time

property thisown

The membership flag

x(t)

Position of trajectory at time t

Returns the position of the trajectory at time t \(\in[startTime(), endTime()]\).

Parameters

t (float) – [in] time between startTime() and endTime()

Return type

rw::math::Transform3D< float >

Returns

Position

class sdurw_trajectory.sdurw_trajectory.TrajectoryTransform3D_fCPtr(*args)

Bases: object

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

__init__(*args)

Overload 1:

Default constructor yielding a NULL-pointer.

Overload 2:

Do not take ownership of ptr.

ptr can be null.

The constructor is implicit on purpose.

ddx(t)

Acceleration of trajectory at time t

Returns the acceleration of the trajectory at time t \(\in[startTime(),endTime()]\).

Parameters

t (float) – [in] time between startTime() and endTime()

Return type

rw::math::Transform3D< float >

Returns

Acceleration

deref()

The pointer stored in the object.

duration()

Total duration of the trajectory.

The duration of the Trajectory corresponds to the time it takes to

run through it.

If the trajectory is empty, then -1 is returned.

dx(t)

Velocity of trajectory at time t

Returns the velocity of the trajectory at time t \(\in[startTime(), endTime()]\).

Parameters

t (float) – [in] time between startTime() and endTime()

Return type

rw::math::Transform3D< float >

Returns

Velocity

endTime()

Returns the endTime of the trajectory.

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

Return type

float

Returns

The end time

getDeref()

Member access operator.

getIterator(dt=1)

Returns a bi-directional interator for running through the trajectory.

For some trajectory types it may be significantly more efficient to run through using an iterator, rather than using random access.

Parameters

dt (float, optional) – [in] The default time step used when using the ++ or – operators in the iterator

Pointer to the iterator. The pointer has ownership.

isNull()

checks if the pointer is null :rtype: boolean :return: Returns true if the pointer is null

isShared()

check if this Ptr has shared ownership or none ownership :rtype: boolean :return: true if Ptr has shared ownership, false if it has no ownership.

startTime()

Returns the startTime of the trajectory

Return type

float

Returns

Start time

property thisown

The membership flag

x(t)

Position of trajectory at time t

Returns the position of the trajectory at time t \(\in[startTime(), endTime()]\).

Parameters

t (float) – [in] time between startTime() and endTime()

Return type

rw::math::Transform3D< float >

Returns

Position

class sdurw_trajectory.sdurw_trajectory.TrajectoryTransform3D_fPtr(*args)

Bases: object

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

__init__(*args)

Overload 1:

Default constructor yielding a NULL-pointer.

Overload 2:

Do not take ownership of ptr.

ptr can be null.

The constructor is implicit on purpose.

cptr()

ddx(t)

Acceleration of trajectory at time t

Returns the acceleration of the trajectory at time t \(\in[startTime(),endTime()]\).

Parameters

t (float) – [in] time between startTime() and endTime()

Return type

rw::math::Transform3D< float >

Returns

Acceleration

deref()

The pointer stored in the object.

duration()

Total duration of the trajectory.

The duration of the Trajectory corresponds to the time it takes to

run through it.

If the trajectory is empty, then -1 is returned.

dx(t)

Velocity of trajectory at time t

Returns the velocity of the trajectory at time t \(\in[startTime(), endTime()]\).

Parameters

t (float) – [in] time between startTime() and endTime()

Return type

rw::math::Transform3D< float >

Returns

Velocity

endTime()

Returns the endTime of the trajectory.

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

Return type

float

Returns

The end time

getDeref()

Member access operator.

getIterator(dt=1)

Returns a bi-directional interator for running through the trajectory.

For some trajectory types it may be significantly more efficient to run through using an iterator, rather than using random access.

Parameters

dt (float, optional) – [in] The default time step used when using the ++ or – operators in the iterator

Pointer to the iterator. The pointer has ownership.

getPath(dt, uniform=True)

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 (float) – [in] Step size

• uniform (boolean, optional) – [in] Whether to sample the path uniformly

Return type

std::vector< rw::math::Transform3D< float > >

Returns

The discrete path.

isNull()

checks if the pointer is null :rtype: boolean :return: Returns true if the pointer is null

isShared()

check if this Ptr has shared ownership or none ownership :rtype: boolean :return: true if Ptr has shared ownership, false if it has no ownership.

startTime()

Returns the startTime of the trajectory

Return type

float

Returns

Start time

property thisown

The membership flag

x(t)

Position of trajectory at time t

Returns the position of the trajectory at time t \(\in[startTime(), endTime()]\).

Parameters

t (float) – [in] time between startTime() and endTime()

Return type

rw::math::Transform3D< float >

Returns

Position

class sdurw_trajectory.sdurw_trajectory.TrajectoryVector2D(*args, **kwargs)

Bases: object

Interface for Trajectories in RobWork

__init__(*args, **kwargs)

ddx(t)

Acceleration of trajectory at time t

Returns the acceleration of the trajectory at time t \(\in[startTime(),endTime()]\).

Parameters

t (float) – [in] time between startTime() and endTime()

Return type

rw::math::Vector2D< double >

Returns

Acceleration

duration()

Total duration of the trajectory.

The duration of the Trajectory corresponds to the time it takes to

run through it.

If the trajectory is empty, then -1 is returned.

dx(t)

Velocity of trajectory at time t

Returns the velocity of the trajectory at time t \(\in[startTime(), endTime()]\).

Parameters

t (float) – [in] time between startTime() and endTime()

Return type

rw::math::Vector2D< double >

Returns

Velocity

endTime()

Returns the endTime of the trajectory.

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

Return type

float

Returns

The end time

getIterator(dt=1)

Returns a bi-directional interator for running through the trajectory.

For some trajectory types it may be significantly more efficient to run through using an iterator, rather than using random access.

Parameters

dt (float, optional) – [in] The default time step used when using the ++ or – operators in the iterator

Pointer to the iterator. The pointer has ownership.

getPath(dt, uniform=True)

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 (float) – [in] Step size

• uniform (boolean, optional) – [in] Whether to sample the path uniformly

Return type

std::vector< rw::math::Vector2D< double > >

Returns

The discrete path.

startTime()

Returns the startTime of the trajectory

Return type

float

Returns

Start time

property thisown

The membership flag

x(t)

Position of trajectory at time t

Returns the position of the trajectory at time t \(\in[startTime(), endTime()]\).

Parameters

t (float) – [in] time between startTime() and endTime()

Return type

rw::math::Vector2D< double >

Returns

Position

class sdurw_trajectory.sdurw_trajectory.TrajectoryVector2DCPtr(*args)

Bases: object

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

__init__(*args)

Overload 1:

Default constructor yielding a NULL-pointer.

Overload 2:

Do not take ownership of ptr.

ptr can be null.

The constructor is implicit on purpose.

ddx(t)

Acceleration of trajectory at time t

Returns the acceleration of the trajectory at time t \(\in[startTime(),endTime()]\).

Parameters

t (float) – [in] time between startTime() and endTime()

Return type

rw::math::Vector2D< double >

Returns

Acceleration

deref()

The pointer stored in the object.

duration()

Total duration of the trajectory.

The duration of the Trajectory corresponds to the time it takes to

run through it.

If the trajectory is empty, then -1 is returned.

dx(t)

Velocity of trajectory at time t

Returns the velocity of the trajectory at time t \(\in[startTime(), endTime()]\).

Parameters

t (float) – [in] time between startTime() and endTime()

Return type

rw::math::Vector2D< double >

Returns

Velocity

endTime()

Returns the endTime of the trajectory.

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

Return type

float

Returns

The end time

getDeref()

Member access operator.

getIterator(dt=1)

Returns a bi-directional interator for running through the trajectory.

For some trajectory types it may be significantly more efficient to run through using an iterator, rather than using random access.

Parameters

dt (float, optional) – [in] The default time step used when using the ++ or – operators in the iterator

Pointer to the iterator. The pointer has ownership.

isNull()

checks if the pointer is null :rtype: boolean :return: Returns true if the pointer is null

isShared()

check if this Ptr has shared ownership or none ownership :rtype: boolean :return: true if Ptr has shared ownership, false if it has no ownership.

startTime()

Returns the startTime of the trajectory

Return type

float

Returns

Start time

property thisown

The membership flag

x(t)

Position of trajectory at time t

Returns the position of the trajectory at time t \(\in[startTime(), endTime()]\).

Parameters

t (float) – [in] time between startTime() and endTime()

Return type

rw::math::Vector2D< double >

Returns

Position

class sdurw_trajectory.sdurw_trajectory.TrajectoryVector2DPtr(*args)

Bases: object

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

__init__(*args)

Overload 1:

Default constructor yielding a NULL-pointer.

Overload 2:

Do not take ownership of ptr.

ptr can be null.

The constructor is implicit on purpose.

cptr()

ddx(t)

Acceleration of trajectory at time t

Returns the acceleration of the trajectory at time t \(\in[startTime(),endTime()]\).

Parameters

t (float) – [in] time between startTime() and endTime()

Return type

rw::math::Vector2D< double >

Returns

Acceleration

deref()

The pointer stored in the object.

duration()

Total duration of the trajectory.

The duration of the Trajectory corresponds to the time it takes to

run through it.

If the trajectory is empty, then -1 is returned.

dx(t)

Velocity of trajectory at time t

Returns the velocity of the trajectory at time t \(\in[startTime(), endTime()]\).

Parameters

t (float) – [in] time between startTime() and endTime()

Return type

rw::math::Vector2D< double >

Returns

Velocity

endTime()

Returns the endTime of the trajectory.

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

Return type

float

Returns

The end time

getDeref()

Member access operator.

getIterator(dt=1)

Returns a bi-directional interator for running through the trajectory.

For some trajectory types it may be significantly more efficient to run through using an iterator, rather than using random access.

Parameters

dt (float, optional) – [in] The default time step used when using the ++ or – operators in the iterator

Pointer to the iterator. The pointer has ownership.

getPath(dt, uniform=True)

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 (float) – [in] Step size

• uniform (boolean, optional) – [in] Whether to sample the path uniformly

Return type

std::vector< rw::math::Vector2D< double > >

Returns

The discrete path.

isNull()

checks if the pointer is null :rtype: boolean :return: Returns true if the pointer is null

isShared()

check if this Ptr has shared ownership or none ownership :rtype: boolean :return: true if Ptr has shared ownership, false if it has no ownership.

startTime()

Returns the startTime of the trajectory

Return type

float

Returns

Start time

property thisown

The membership flag

x(t)

Position of trajectory at time t

Returns the position of the trajectory at time t \(\in[startTime(), endTime()]\).

Parameters

t (float) – [in] time between startTime() and endTime()

Return type

rw::math::Vector2D< double >

Returns

Position

class sdurw_trajectory.sdurw_trajectory.TrajectoryVector2D_f(*args, **kwargs)

Bases: object

Interface for Trajectories in RobWork

__init__(*args, **kwargs)

ddx(t)

Acceleration of trajectory at time t

Returns the acceleration of the trajectory at time t \(\in[startTime(),endTime()]\).

Parameters

t (float) – [in] time between startTime() and endTime()

Return type

rw::math::Vector2D< float >

Returns

Acceleration

duration()

Total duration of the trajectory.

The duration of the Trajectory corresponds to the time it takes to

run through it.

If the trajectory is empty, then -1 is returned.

dx(t)

Velocity of trajectory at time t

Returns the velocity of the trajectory at time t \(\in[startTime(), endTime()]\).

Parameters

t (float) – [in] time between startTime() and endTime()

Return type

rw::math::Vector2D< float >

Returns

Velocity

endTime()

Returns the endTime of the trajectory.

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

Return type

float

Returns

The end time

getIterator(dt=1)

Returns a bi-directional interator for running through the trajectory.

For some trajectory types it may be significantly more efficient to run through using an iterator, rather than using random access.

Parameters

dt (float, optional) – [in] The default time step used when using the ++ or – operators in the iterator

Pointer to the iterator. The pointer has ownership.

getPath(dt, uniform=True)

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 (float) – [in] Step size

• uniform (boolean, optional) – [in] Whether to sample the path uniformly

Return type

std::vector< rw::math::Vector2D< float > >

Returns

The discrete path.

startTime()

Returns the startTime of the trajectory

Return type

float

Returns

Start time

property thisown

The membership flag

x(t)

Position of trajectory at time t

Returns the position of the trajectory at time t \(\in[startTime(), endTime()]\).

Parameters

t (float) – [in] time between startTime() and endTime()

Return type

rw::math::Vector2D< float >

Returns

Position

class sdurw_trajectory.sdurw_trajectory.TrajectoryVector2D_fCPtr(*args)

Bases: object

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

__init__(*args)

Overload 1:

Default constructor yielding a NULL-pointer.

Overload 2:

Do not take ownership of ptr.

ptr can be null.

The constructor is implicit on purpose.

ddx(t)

Acceleration of trajectory at time t

Returns the acceleration of the trajectory at time t \(\in[startTime(),endTime()]\).

Parameters

t (float) – [in] time between startTime() and endTime()

Return type

rw::math::Vector2D< float >

Returns

Acceleration

deref()

The pointer stored in the object.

duration()

Total duration of the trajectory.

The duration of the Trajectory corresponds to the time it takes to

run through it.

If the trajectory is empty, then -1 is returned.

dx(t)

Velocity of trajectory at time t

Returns the velocity of the trajectory at time t \(\in[startTime(), endTime()]\).

Parameters

t (float) – [in] time between startTime() and endTime()

Return type

rw::math::Vector2D< float >

Returns

Velocity

endTime()

Returns the endTime of the trajectory.

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

Return type

float

Returns

The end time

getDeref()

Member access operator.

getIterator(dt=1)

Returns a bi-directional interator for running through the trajectory.

For some trajectory types it may be significantly more efficient to run through using an iterator, rather than using random access.

Parameters

dt (float, optional) – [in] The default time step used when using the ++ or – operators in the iterator

Pointer to the iterator. The pointer has ownership.

isNull()

checks if the pointer is null :rtype: boolean :return: Returns true if the pointer is null

isShared()

check if this Ptr has shared ownership or none ownership :rtype: boolean :return: true if Ptr has shared ownership, false if it has no ownership.

startTime()

Returns the startTime of the trajectory

Return type

float

Returns

Start time

property thisown

The membership flag

x(t)

Position of trajectory at time t

Returns the position of the trajectory at time t \(\in[startTime(), endTime()]\).

Parameters

t (float) – [in] time between startTime() and endTime()

Return type

rw::math::Vector2D< float >

Returns

Position

class sdurw_trajectory.sdurw_trajectory.TrajectoryVector2D_fPtr(*args)

Bases: object

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

__init__(*args)

Overload 1:

Default constructor yielding a NULL-pointer.

Overload 2:

Do not take ownership of ptr.

ptr can be null.

The constructor is implicit on purpose.

cptr()

ddx(t)

Acceleration of trajectory at time t

Returns the acceleration of the trajectory at time t \(\in[startTime(),endTime()]\).

Parameters

t (float) – [in] time between startTime() and endTime()

Return type

rw::math::Vector2D< float >

Returns

Acceleration

deref()

The pointer stored in the object.

duration()

Total duration of the trajectory.

The duration of the Trajectory corresponds to the time it takes to

run through it.

If the trajectory is empty, then -1 is returned.

dx(t)

Velocity of trajectory at time t

Returns the velocity of the trajectory at time t \(\in[startTime(), endTime()]\).

Parameters

t (float) – [in] time between startTime() and endTime()

Return type

rw::math::Vector2D< float >

Returns

Velocity

endTime()

Returns the endTime of the trajectory.

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

Return type

float

Returns

The end time

getDeref()

Member access operator.

getIterator(dt=1)

Returns a bi-directional interator for running through the trajectory.

For some trajectory types it may be significantly more efficient to run through using an iterator, rather than using random access.

Parameters

dt (float, optional) – [in] The default time step used when using the ++ or – operators in the iterator

Pointer to the iterator. The pointer has ownership.

getPath(dt, uniform=True)

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 (float) – [in] Step size

• uniform (boolean, optional) – [in] Whether to sample the path uniformly

Return type

std::vector< rw::math::Vector2D< float > >

Returns

The discrete path.

isNull()

checks if the pointer is null :rtype: boolean :return: Returns true if the pointer is null

isShared()

check if this Ptr has shared ownership or none ownership :rtype: boolean :return: true if Ptr has shared ownership, false if it has no ownership.

startTime()

Returns the startTime of the trajectory

Return type

float

Returns

Start time

property thisown

The membership flag

x(t)

Position of trajectory at time t

Returns the position of the trajectory at time t \(\in[startTime(), endTime()]\).

Parameters

t (float) – [in] time between startTime() and endTime()

Return type

rw::math::Vector2D< float >

Returns

Position

class sdurw_trajectory.sdurw_trajectory.TrajectoryVector3D(*args, **kwargs)

Bases: object

Interface for Trajectories in RobWork

__init__(*args, **kwargs)

ddx(t)

Acceleration of trajectory at time t

Returns the acceleration of the trajectory at time t \(\in[startTime(),endTime()]\).

Parameters

t (float) – [in] time between startTime() and endTime()

Return type

rw::math::Vector3D< double >

Returns

Acceleration

duration()

Total duration of the trajectory.

The duration of the Trajectory corresponds to the time it takes to

run through it.

If the trajectory is empty, then -1 is returned.

dx(t)

Velocity of trajectory at time t

Returns the velocity of the trajectory at time t \(\in[startTime(), endTime()]\).

Parameters

t (float) – [in] time between startTime() and endTime()

Return type

rw::math::Vector3D< double >

Returns

Velocity

endTime()

Returns the endTime of the trajectory.

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

Return type

float

Returns

The end time

getIterator(dt=1)

Returns a bi-directional interator for running through the trajectory.

For some trajectory types it may be significantly more efficient to run through using an iterator, rather than using random access.

Parameters

dt (float, optional) – [in] The default time step used when using the ++ or – operators in the iterator

Pointer to the iterator. The pointer has ownership.

getPath(dt, uniform=True)

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 (float) – [in] Step size

• uniform (boolean, optional) – [in] Whether to sample the path uniformly

Return type

std::vector< rw::math::Vector3D< double > >

Returns

The discrete path.

startTime()

Returns the startTime of the trajectory

Return type

float

Returns

Start time

property thisown

The membership flag

x(t)

Position of trajectory at time t

Returns the position of the trajectory at time t \(\in[startTime(), endTime()]\).

Parameters

t (float) – [in] time between startTime() and endTime()

Return type

rw::math::Vector3D< double >

Returns

Position

class sdurw_trajectory.sdurw_trajectory.TrajectoryVector3DCPtr(*args)

Bases: object

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

__init__(*args)

Overload 1:

Default constructor yielding a NULL-pointer.

Overload 2:

Do not take ownership of ptr.

ptr can be null.

The constructor is implicit on purpose.

ddx(t)

Acceleration of trajectory at time t

Returns the acceleration of the trajectory at time t \(\in[startTime(),endTime()]\).

Parameters

t (float) – [in] time between startTime() and endTime()

Return type

rw::math::Vector3D< double >

Returns

Acceleration

deref()

The pointer stored in the object.

duration()

Total duration of the trajectory.

The duration of the Trajectory corresponds to the time it takes to

run through it.

If the trajectory is empty, then -1 is returned.

dx(t)

Velocity of trajectory at time t

Returns the velocity of the trajectory at time t \(\in[startTime(), endTime()]\).

Parameters

t (float) – [in] time between startTime() and endTime()

Return type

rw::math::Vector3D< double >

Returns

Velocity

endTime()

Returns the endTime of the trajectory.

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

Return type

float

Returns

The end time

getDeref()

Member access operator.

getIterator(dt=1)

Returns a bi-directional interator for running through the trajectory.

For some trajectory types it may be significantly more efficient to run through using an iterator, rather than using random access.

Parameters

dt (float, optional) – [in] The default time step used when using the ++ or – operators in the iterator

Pointer to the iterator. The pointer has ownership.

isNull()

checks if the pointer is null :rtype: boolean :return: Returns true if the pointer is null

isShared()

check if this Ptr has shared ownership or none ownership :rtype: boolean :return: true if Ptr has shared ownership, false if it has no ownership.

startTime()

Returns the startTime of the trajectory

Return type

float

Returns

Start time

property thisown

The membership flag

x(t)

Position of trajectory at time t

Returns the position of the trajectory at time t \(\in[startTime(), endTime()]\).

Parameters

t (float) – [in] time between startTime() and endTime()

Return type

rw::math::Vector3D< double >

Returns

Position

class sdurw_trajectory.sdurw_trajectory.TrajectoryVector3DPtr(*args)

Bases: object

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

__init__(*args)

Overload 1:

Default constructor yielding a NULL-pointer.

Overload 2:

Do not take ownership of ptr.

ptr can be null.

The constructor is implicit on purpose.

cptr()

ddx(t)

Acceleration of trajectory at time t

Returns the acceleration of the trajectory at time t \(\in[startTime(),endTime()]\).

Parameters

t (float) – [in] time between startTime() and endTime()

Return type

rw::math::Vector3D< double >

Returns

Acceleration

deref()

The pointer stored in the object.

duration()

Total duration of the trajectory.

The duration of the Trajectory corresponds to the time it takes to

run through it.

If the trajectory is empty, then -1 is returned.

dx(t)

Velocity of trajectory at time t

Returns the velocity of the trajectory at time t \(\in[startTime(), endTime()]\).

Parameters

t (float) – [in] time between startTime() and endTime()

Return type

rw::math::Vector3D< double >

Returns

Velocity

endTime()

Returns the endTime of the trajectory.

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

Return type

float

Returns

The end time

getDeref()

Member access operator.

getIterator(dt=1)

Returns a bi-directional interator for running through the trajectory.

For some trajectory types it may be significantly more efficient to run through using an iterator, rather than using random access.

Parameters

dt (float, optional) – [in] The default time step used when using the ++ or – operators in the iterator

Pointer to the iterator. The pointer has ownership.

getPath(dt, uniform=True)

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 (float) – [in] Step size

• uniform (boolean, optional) – [in] Whether to sample the path uniformly

Return type

std::vector< rw::math::Vector3D< double > >

Returns

The discrete path.

isNull()

checks if the pointer is null :rtype: boolean :return: Returns true if the pointer is null

isShared()

check if this Ptr has shared ownership or none ownership :rtype: boolean :return: true if Ptr has shared ownership, false if it has no ownership.

startTime()

Returns the startTime of the trajectory

Return type

float

Returns

Start time

property thisown

The membership flag

x(t)

Position of trajectory at time t

Returns the position of the trajectory at time t \(\in[startTime(), endTime()]\).

Parameters

t (float) – [in] time between startTime() and endTime()

Return type

rw::math::Vector3D< double >

Returns

Position

class sdurw_trajectory.sdurw_trajectory.TrajectoryVector3D_f(*args, **kwargs)

Bases: object

Interface for Trajectories in RobWork

__init__(*args, **kwargs)

ddx(t)

Acceleration of trajectory at time t

Returns the acceleration of the trajectory at time t \(\in[startTime(),endTime()]\).

Parameters

t (float) – [in] time between startTime() and endTime()

Return type

rw::math::Vector3D< float >

Returns

Acceleration

duration()

Total duration of the trajectory.

The duration of the Trajectory corresponds to the time it takes to

run through it.

If the trajectory is empty, then -1 is returned.

dx(t)

Velocity of trajectory at time t

Returns the velocity of the trajectory at time t \(\in[startTime(), endTime()]\).

Parameters

t (float) – [in] time between startTime() and endTime()

Return type

rw::math::Vector3D< float >

Returns

Velocity

endTime()

Returns the endTime of the trajectory.

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

Return type

float

Returns

The end time

getIterator(dt=1)

Returns a bi-directional interator for running through the trajectory.

For some trajectory types it may be significantly more efficient to run through using an iterator, rather than using random access.

Parameters

dt (float, optional) – [in] The default time step used when using the ++ or – operators in the iterator

Pointer to the iterator. The pointer has ownership.

getPath(dt, uniform=True)

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 (float) – [in] Step size

• uniform (boolean, optional) – [in] Whether to sample the path uniformly

Return type

std::vector< rw::math::Vector3D< float > >

Returns

The discrete path.

startTime()

Returns the startTime of the trajectory

Return type

float

Returns

Start time

property thisown

The membership flag

x(t)

Position of trajectory at time t

Returns the position of the trajectory at time t \(\in[startTime(), endTime()]\).

Parameters

t (float) – [in] time between startTime() and endTime()

Return type

rw::math::Vector3D< float >

Returns

Position

class sdurw_trajectory.sdurw_trajectory.TrajectoryVector3D_fCPtr(*args)

Bases: object

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

__init__(*args)

Overload 1:

Default constructor yielding a NULL-pointer.

Overload 2:

Do not take ownership of ptr.

ptr can be null.

The constructor is implicit on purpose.

ddx(t)

Acceleration of trajectory at time t

Returns the acceleration of the trajectory at time t \(\in[startTime(),endTime()]\).

Parameters

t (float) – [in] time between startTime() and endTime()

Return type

rw::math::Vector3D< float >

Returns

Acceleration

deref()

The pointer stored in the object.

duration()

Total duration of the trajectory.

The duration of the Trajectory corresponds to the time it takes to

run through it.

If the trajectory is empty, then -1 is returned.

dx(t)

Velocity of trajectory at time t

Returns the velocity of the trajectory at time t \(\in[startTime(), endTime()]\).

Parameters

t (float) – [in] time between startTime() and endTime()

Return type

rw::math::Vector3D< float >

Returns

Velocity

endTime()

Returns the endTime of the trajectory.

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

Return type

float

Returns

The end time

getDeref()

Member access operator.

getIterator(dt=1)

Returns a bi-directional interator for running through the trajectory.

For some trajectory types it may be significantly more efficient to run through using an iterator, rather than using random access.

Parameters

dt (float, optional) – [in] The default time step used when using the ++ or – operators in the iterator

Pointer to the iterator. The pointer has ownership.

isNull()

checks if the pointer is null :rtype: boolean :return: Returns true if the pointer is null

isShared()

check if this Ptr has shared ownership or none ownership :rtype: boolean :return: true if Ptr has shared ownership, false if it has no ownership.

startTime()

Returns the startTime of the trajectory

Return type

float

Returns

Start time

property thisown

The membership flag

x(t)

Position of trajectory at time t

Returns the position of the trajectory at time t \(\in[startTime(), endTime()]\).

Parameters

t (float) – [in] time between startTime() and endTime()

Return type

rw::math::Vector3D< float >

Returns

Position

class sdurw_trajectory.sdurw_trajectory.TrajectoryVector3D_fPtr(*args)

Bases: object

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

__init__(*args)

Overload 1:

Default constructor yielding a NULL-pointer.

Overload 2:

Do not take ownership of ptr.

ptr can be null.

The constructor is implicit on purpose.

cptr()

ddx(t)

Acceleration of trajectory at time t

Returns the acceleration of the trajectory at time t \(\in[startTime(),endTime()]\).

Parameters

t (float) – [in] time between startTime() and endTime()

Return type

rw::math::Vector3D< float >

Returns

Acceleration

deref()

The pointer stored in the object.

duration()

Total duration of the trajectory.

The duration of the Trajectory corresponds to the time it takes to

run through it.

If the trajectory is empty, then -1 is returned.

dx(t)

Velocity of trajectory at time t

Returns the velocity of the trajectory at time t \(\in[startTime(), endTime()]\).

Parameters

t (float) – [in] time between startTime() and endTime()

Return type

rw::math::Vector3D< float >

Returns

Velocity

endTime()

Returns the endTime of the trajectory.

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

Return type

float

Returns

The end time

getDeref()

Member access operator.

getIterator(dt=1)

Returns a bi-directional interator for running through the trajectory.

For some trajectory types it may be significantly more efficient to run through using an iterator, rather than using random access.

Parameters

dt (float, optional) – [in] The default time step used when using the ++ or – operators in the iterator

Pointer to the iterator. The pointer has ownership.

getPath(dt, uniform=True)

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 (float) – [in] Step size

• uniform (boolean, optional) – [in] Whether to sample the path uniformly

Return type

std::vector< rw::math::Vector3D< float > >

Returns

The discrete path.

isNull()

checks if the pointer is null :rtype: boolean :return: Returns true if the pointer is null

isShared()

check if this Ptr has shared ownership or none ownership :rtype: boolean :return: true if Ptr has shared ownership, false if it has no ownership.

startTime()

Returns the startTime of the trajectory

Return type

float

Returns

Start time

property thisown

The membership flag

x(t)

Position of trajectory at time t

Returns the position of the trajectory at time t \(\in[startTime(), endTime()]\).

Parameters

t (float) – [in] time between startTime() and endTime()

Return type

rw::math::Vector3D< float >

Returns

Position

class sdurw_trajectory.sdurw_trajectory.Trajectory_d(*args, **kwargs)

Bases: object

Interface for Trajectories in RobWork

__init__(*args, **kwargs)

ddx(t)

Acceleration of trajectory at time t

Returns the acceleration of the trajectory at time t \(\in[startTime(),endTime()]\).

Parameters

t (float) – [in] time between startTime() and endTime()

Return type

float

Returns

Acceleration

duration()

Total duration of the trajectory.

The duration of the Trajectory corresponds to the time it takes to

run through it.

If the trajectory is empty, then -1 is returned.

dx(t)

Velocity of trajectory at time t

Returns the velocity of the trajectory at time t \(\in[startTime(), endTime()]\).

Parameters

t (float) – [in] time between startTime() and endTime()

Return type

float

Returns

Velocity

endTime()

Returns the endTime of the trajectory.

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

Return type

float

Returns

The end time

getIterator(dt=1)

Returns a bi-directional interator for running through the trajectory.

For some trajectory types it may be significantly more efficient to run through using an iterator, rather than using random access.

Parameters

dt (float, optional) – [in] The default time step used when using the ++ or – operators in the iterator

Pointer to the iterator. The pointer has ownership.

getPath(dt, uniform=True)

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 (float) – [in] Step size

• uniform (boolean, optional) – [in] Whether to sample the path uniformly

Return type

std::vector< double >

Returns

The discrete path.

startTime()

Returns the startTime of the trajectory

Return type

float

Returns

Start time

property thisown

The membership flag

x(t)

Position of trajectory at time t

Returns the position of the trajectory at time t \(\in[startTime(), endTime()]\).

Parameters

t (float) – [in] time between startTime() and endTime()

Return type

float

Returns

Position

class sdurw_trajectory.sdurw_trajectory.Trajectory_dCPtr(*args)

Bases: object

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

__init__(*args)

Overload 1:

Default constructor yielding a NULL-pointer.

Overload 2:

Do not take ownership of ptr.

ptr can be null.

The constructor is implicit on purpose.

ddx(t)

Acceleration of trajectory at time t

Returns the acceleration of the trajectory at time t \(\in[startTime(),endTime()]\).

Parameters

t (float) – [in] time between startTime() and endTime()

Return type

float

Returns

Acceleration

deref()

The pointer stored in the object.

duration()

Total duration of the trajectory.

The duration of the Trajectory corresponds to the time it takes to

run through it.

If the trajectory is empty, then -1 is returned.

dx(t)

Velocity of trajectory at time t

Returns the velocity of the trajectory at time t \(\in[startTime(), endTime()]\).

Parameters

t (float) – [in] time between startTime() and endTime()

Return type

float

Returns

Velocity

endTime()

Returns the endTime of the trajectory.

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

Return type

float

Returns

The end time

getDeref()

Member access operator.

getIterator(dt=1)

Returns a bi-directional interator for running through the trajectory.

For some trajectory types it may be significantly more efficient to run through using an iterator, rather than using random access.

Parameters

dt (float, optional) – [in] The default time step used when using the ++ or – operators in the iterator

Pointer to the iterator. The pointer has ownership.

isNull()

checks if the pointer is null :rtype: boolean :return: Returns true if the pointer is null

isShared()

check if this Ptr has shared ownership or none ownership :rtype: boolean :return: true if Ptr has shared ownership, false if it has no ownership.

startTime()

Returns the startTime of the trajectory

Return type

float

Returns

Start time

property thisown

The membership flag

x(t)

Position of trajectory at time t

Returns the position of the trajectory at time t \(\in[startTime(), endTime()]\).

Parameters

t (float) – [in] time between startTime() and endTime()

Return type

float

Returns

Position

class sdurw_trajectory.sdurw_trajectory.Trajectory_dPtr(*args)

Bases: object

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

__init__(*args)

Overload 1:

Default constructor yielding a NULL-pointer.

Overload 2:

Do not take ownership of ptr.

ptr can be null.

The constructor is implicit on purpose.

cptr()

ddx(t)

Acceleration of trajectory at time t

Returns the acceleration of the trajectory at time t \(\in[startTime(),endTime()]\).

Parameters

t (float) – [in] time between startTime() and endTime()

Return type

float

Returns

Acceleration

deref()

The pointer stored in the object.

duration()

Total duration of the trajectory.

The duration of the Trajectory corresponds to the time it takes to

run through it.

If the trajectory is empty, then -1 is returned.

dx(t)

Velocity of trajectory at time t

Returns the velocity of the trajectory at time t \(\in[startTime(), endTime()]\).

Parameters

t (float) – [in] time between startTime() and endTime()

Return type

float

Returns

Velocity

endTime()

Returns the endTime of the trajectory.

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

Return type

float

Returns

The end time

getDeref()

Member access operator.

getIterator(dt=1)

Returns a bi-directional interator for running through the trajectory.

For some trajectory types it may be significantly more efficient to run through using an iterator, rather than using random access.

Parameters

dt (float, optional) – [in] The default time step used when using the ++ or – operators in the iterator

Pointer to the iterator. The pointer has ownership.

getPath(dt, uniform=True)

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 (float) – [in] Step size

• uniform (boolean, optional) – [in] Whether to sample the path uniformly

Return type

std::vector< double >

Returns

The discrete path.

isNull()

checks if the pointer is null :rtype: boolean :return: Returns true if the pointer is null

isShared()

check if this Ptr has shared ownership or none ownership :rtype: boolean :return: true if Ptr has shared ownership, false if it has no ownership.

startTime()

Returns the startTime of the trajectory

Return type

float

Returns

Start time

property thisown

The membership flag

x(t)

Position of trajectory at time t

Returns the position of the trajectory at time t \(\in[startTime(), endTime()]\).

Parameters

t (float) – [in] time between startTime() and endTime()

Return type

float

Returns

Position

class sdurw_trajectory.sdurw_trajectory.Trajectory_d_f(*args, **kwargs)

Bases: object

Interface for Trajectories in RobWork

__init__(*args, **kwargs)

ddx(t)

Acceleration of trajectory at time t

Returns the acceleration of the trajectory at time t \(\in[startTime(),endTime()]\).

Parameters

t (float) – [in] time between startTime() and endTime()

Return type

float

Returns

Acceleration

duration()

Total duration of the trajectory.

The duration of the Trajectory corresponds to the time it takes to

run through it.

If the trajectory is empty, then -1 is returned.

dx(t)

Velocity of trajectory at time t

Returns the velocity of the trajectory at time t \(\in[startTime(), endTime()]\).

Parameters

t (float) – [in] time between startTime() and endTime()

Return type

float

Returns

Velocity

endTime()

Returns the endTime of the trajectory.

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

Return type

float

Returns

The end time

getIterator(dt=1)

Returns a bi-directional interator for running through the trajectory.

For some trajectory types it may be significantly more efficient to run through using an iterator, rather than using random access.

Parameters

dt (float, optional) – [in] The default time step used when using the ++ or – operators in the iterator

Pointer to the iterator. The pointer has ownership.

getPath(dt, uniform=True)

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 (float) – [in] Step size

• uniform (boolean, optional) – [in] Whether to sample the path uniformly

Return type

std::vector< float >

Returns

The discrete path.

startTime()

Returns the startTime of the trajectory

Return type

float

Returns

Start time

property thisown

The membership flag

x(t)

Position of trajectory at time t

Returns the position of the trajectory at time t \(\in[startTime(), endTime()]\).

Parameters

t (float) – [in] time between startTime() and endTime()

Return type

float

Returns

Position

class sdurw_trajectory.sdurw_trajectory.Trajectory_d_fCPtr(*args)

Bases: object

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

__init__(*args)

Overload 1:

Default constructor yielding a NULL-pointer.

Overload 2:

Do not take ownership of ptr.

ptr can be null.

The constructor is implicit on purpose.

ddx(t)

Acceleration of trajectory at time t

Returns the acceleration of the trajectory at time t \(\in[startTime(),endTime()]\).

Parameters

t (float) – [in] time between startTime() and endTime()

Return type

float

Returns

Acceleration

deref()

The pointer stored in the object.

duration()

Total duration of the trajectory.

The duration of the Trajectory corresponds to the time it takes to

run through it.

If the trajectory is empty, then -1 is returned.

dx(t)

Velocity of trajectory at time t

Returns the velocity of the trajectory at time t \(\in[startTime(), endTime()]\).

Parameters

t (float) – [in] time between startTime() and endTime()

Return type

float

Returns

Velocity

endTime()

Returns the endTime of the trajectory.

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

Return type

float

Returns

The end time

getDeref()

Member access operator.

getIterator(dt=1)

Returns a bi-directional interator for running through the trajectory.

For some trajectory types it may be significantly more efficient to run through using an iterator, rather than using random access.

Parameters

dt (float, optional) – [in] The default time step used when using the ++ or – operators in the iterator

Pointer to the iterator. The pointer has ownership.

isNull()

checks if the pointer is null :rtype: boolean :return: Returns true if the pointer is null

isShared()

check if this Ptr has shared ownership or none ownership :rtype: boolean :return: true if Ptr has shared ownership, false if it has no ownership.

startTime()

Returns the startTime of the trajectory

Return type

float

Returns

Start time

property thisown

The membership flag

x(t)

Position of trajectory at time t

Returns the position of the trajectory at time t \(\in[startTime(), endTime()]\).

Parameters

t (float) – [in] time between startTime() and endTime()

Return type

float

Returns

Position

class sdurw_trajectory.sdurw_trajectory.Trajectory_d_fPtr(*args)

Bases: object

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

__init__(*args)

Overload 1:

Default constructor yielding a NULL-pointer.

Overload 2:

Do not take ownership of ptr.

ptr can be null.

The constructor is implicit on purpose.

cptr()

ddx(t)

Acceleration of trajectory at time t

Returns the acceleration of the trajectory at time t \(\in[startTime(),endTime()]\).

Parameters

t (float) – [in] time between startTime() and endTime()

Return type

float

Returns

Acceleration

deref()

The pointer stored in the object.

duration()

Total duration of the trajectory.

The duration of the Trajectory corresponds to the time it takes to

run through it.

If the trajectory is empty, then -1 is returned.

dx(t)

Velocity of trajectory at time t

Returns the velocity of the trajectory at time t \(\in[startTime(), endTime()]\).

Parameters

t (float) – [in] time between startTime() and endTime()

Return type

float

Returns

Velocity

endTime()

Returns the endTime of the trajectory.

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

Return type

float

Returns

The end time

getDeref()

Member access operator.

getIterator(dt=1)

Returns a bi-directional interator for running through the trajectory.

For some trajectory types it may be significantly more efficient to run through using an iterator, rather than using random access.

Parameters

dt (float, optional) – [in] The default time step used when using the ++ or – operators in the iterator

Pointer to the iterator. The pointer has ownership.

getPath(dt, uniform=True)

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 (float) – [in] Step size

• uniform (boolean, optional) – [in] Whether to sample the path uniformly

Return type

std::vector< float >

Returns

The discrete path.

isNull()

checks if the pointer is null :rtype: boolean :return: Returns true if the pointer is null

isShared()

check if this Ptr has shared ownership or none ownership :rtype: boolean :return: true if Ptr has shared ownership, false if it has no ownership.

startTime()

Returns the startTime of the trajectory

Return type

float

Returns

Start time

property thisown

The membership flag

x(t)

Position of trajectory at time t

Returns the position of the trajectory at time t \(\in[startTime(), endTime()]\).

Parameters

t (float) – [in] time between startTime() and endTime()

Return type

float

Returns

Position

class sdurw_trajectory.sdurw_trajectory.VectorPathQ(arg1=None, arg2=None)

Bases: list

This class is deprecated and is basically a wrapper around a list

__init__(arg1=None, arg2=None)

at(i)

back()

clear()

Remove all items from list.

empty()

front()

pop_back()

push_back(elem)

size()

class sdurw_trajectory.sdurw_trajectory.VectorQuaternion(arg1=None, arg2=None)

Bases: list

This class is deprecated and is basically a wrapper around a list

__init__(arg1=None, arg2=None)

at(i)

back()

clear()

Remove all items from list.

empty()

front()

pop_back()

push_back(elem)

size()

class sdurw_trajectory.sdurw_trajectory.VectorRotation3D(arg1=None, arg2=None)

Bases: list

This class is deprecated and is basically a wrapper around a list

__init__(arg1=None, arg2=None)

at(i)

back()

clear()

Remove all items from list.

empty()

front()

pop_back()

push_back(elem)

size()

class sdurw_trajectory.sdurw_trajectory.VectorRotation3D_f(arg1=None, arg2=None)

Bases: list

This class is deprecated and is basically a wrapper around a list

__init__(arg1=None, arg2=None)

at(i)

back()

clear()

Remove all items from list.

empty()

front()

pop_back()

push_back(elem)

size()

class sdurw_trajectory.sdurw_trajectory.VectorTimedQ(arg1=None, arg2=None)

Bases: list

This class is deprecated and is basically a wrapper around a list

__init__(arg1=None, arg2=None)

at(i)

back()

clear()

Remove all items from list.

empty()

front()

pop_back()

push_back(elem)

size()

class sdurw_trajectory.sdurw_trajectory.VectorTimedTransform3D(arg1=None, arg2=None)

Bases: list

This class is deprecated and is basically a wrapper around a list

__init__(arg1=None, arg2=None)

at(i)

back()

clear()

Remove all items from list.

empty()

front()

pop_back()

push_back(elem)

size()

class sdurw_trajectory.sdurw_trajectory.VectorTrajectoryQPtr(arg1=None, arg2=None)

Bases: list

This class is deprecated and is basically a wrapper around a list

__init__(arg1=None, arg2=None)

at(i)

back()

clear()

Remove all items from list.

empty()

front()

pop_back()

push_back(elem)

size()

class sdurw_trajectory.sdurw_trajectory.VectorTransform3D(arg1=None, arg2=None)

Bases: list

This class is deprecated and is basically a wrapper around a list

__init__(arg1=None, arg2=None)

at(i)

back()

clear()

Remove all items from list.

empty()

front()

pop_back()

push_back(elem)

size()

class sdurw_trajectory.sdurw_trajectory.VectorTransform3D_f(arg1=None, arg2=None)

Bases: list

This class is deprecated and is basically a wrapper around a list

__init__(arg1=None, arg2=None)

at(i)

back()

clear()

Remove all items from list.

empty()

front()

pop_back()

push_back(elem)

size()

class sdurw_trajectory.sdurw_trajectory.VectorTransform3dVector(arg1=None, arg2=None)

Bases: list

This class is deprecated and is basically a wrapper around a list

__init__(arg1=None, arg2=None)

at(i)

back()

clear()

Remove all items from list.

empty()

front()

pop_back()

push_back(elem)

size()

class sdurw_trajectory.sdurw_trajectory.VectorVector2D(arg1=None, arg2=None)

Bases: list

This class is deprecated and is basically a wrapper around a list

__init__(arg1=None, arg2=None)

at(i)

back()

clear()

Remove all items from list.

empty()

front()

pop_back()

push_back(elem)

size()

class sdurw_trajectory.sdurw_trajectory.VectorVector2D_f(arg1=None, arg2=None)

Bases: list

This class is deprecated and is basically a wrapper around a list

__init__(arg1=None, arg2=None)

at(i)

back()

clear()

Remove all items from list.

empty()

front()

pop_back()

push_back(elem)

size()

class sdurw_trajectory.sdurw_trajectory.VectorVector3D(arg1=None, arg2=None)

Bases: list

This class is deprecated and is basically a wrapper around a list

__init__(arg1=None, arg2=None)

at(i)

back()

clear()

Remove all items from list.

empty()

front()

pop_back()

push_back(elem)

size()

class sdurw_trajectory.sdurw_trajectory.VectorVector3D_f(arg1=None, arg2=None)

Bases: list

This class is deprecated and is basically a wrapper around a list

__init__(arg1=None, arg2=None)

at(i)

back()

clear()

Remove all items from list.

empty()

front()

pop_back()

push_back(elem)

size()

sdurw_trajectory.sdurw_trajectory.ownedPtr(*args)

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