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
check 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
check 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.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
check 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
check 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
check 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
check 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
check 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
check 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
check 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
check 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
check 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
check 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
check 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
check 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
check 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
check 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
check 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
check 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
check 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
check 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
check 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
check 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, QuaternionOverload 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, QuaternionOverload 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, QuaternionOverload 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, QuaternionOverload 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, QuaternionOverload 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, QuaternionOverload 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, QuaternionOverload 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, QuaternionOverload 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, QuaternionOverload 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, QuaternionOverload 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, QuaternionOverload 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, QuaternionOverload 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
check 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
check 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
check 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
check 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
check 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
check 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
check 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
check 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
check 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
check 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
check 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
check 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
check 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
check 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
check 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
check 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
check 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
check 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
check 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
check 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
check 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
check 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
check 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
check 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
check 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
check 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
check 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
check 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
check 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
check 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
check 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
check 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
check 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
check 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
check 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
check 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
check 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
check 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
check 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
check 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
check 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