FixedInterpolator< T > Class Template Reference

Implements a fixed value interpolator. More...

#include <FixedInterpolator.hpp>

Inherits Interpolator< T >.

Public Member Functions
	FixedInterpolator (const T &value, double duration)
	Constructs a FixedInterpolator with value value and duration duration. More...
	FixedInterpolator (const T &value, const T &zeroValue, double duration)
	Constructs a FixedInterpolator with value value, duration duration and returning zeroValue for velocity and acceleration. More...
T	x (double t) const
	Position at time t. More...
T	dx (double t) const
	Velocity at time t. More...
T	ddx (double t) const
	Acceleration at time t. More...
double	duration () const
	Returns the duration of the interpolator. More...
Public Member Functions inherited from Interpolator< T >
virtual	~Interpolator ()
	Virtual destructor.

Additional Inherited Members
Public Types inherited from Interpolator< T >
typedef rw::core::Ptr< Interpolator >	Ptr
	smart pointer type to this class

Detailed Description

template<class T>
class rw::trajectory::FixedInterpolator< T >

Implements a fixed value interpolator.

The FixedInterpolator will always return the same value and 0 for velocity and acceleration.

Constructor & Destructor Documentation

FixedInterpolator() [1/2]

FixedInterpolator ( const T &  value, double  duration  )

inline

Constructs a FixedInterpolator with value value and duration duration.

It is assumed that the template type T can be zeroed by

for (size_t i = 0; i < _zeroValue.size(); i++)
    _zeroValue[i] = 0;

to get proper return values for velocity and acceleration.

Parameters

value	[in] Value to return for x(double t).
duration	[in] Duration of the interpolator.

FixedInterpolator() [2/2]

FixedInterpolator ( const T &  value, const T &  zeroValue, double  duration  )

inline

Constructs a FixedInterpolator with value value, duration duration and returning zeroValue for velocity and acceleration.

Parameters

value	[in] Value to return for x(double t).
zeroValue	documentation missing !
duration	[in] Duration of the interpolator.

Member Function Documentation

ddx()

T ddx ( double  t ) const

inlinevirtual

Acceleration at time t.

Parameters

t	[in] time between 0 and length

Returns

Acceleration

Implements Interpolator< T >.

duration()

double duration ( ) const

inlinevirtual

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.

Returns

duration

Implements Interpolator< T >.

dx()

T dx ( double  t ) const

inlinevirtual

Velocity at time t.

Parameters

t	[in] time between 0 and length

Returns

Velocity

Implements Interpolator< T >.

x()

T x ( double  t ) const

inlinevirtual

Position at time t.

Parameters

t	[in] time between 0 and length

Returns

Position

Implements Interpolator< T >.

---

The documentation for this class was generated from the following file:

• FixedInterpolator.hpp