ParabolicBlend< T > Class Template Reference

Forward declaration for parabolic blend to make the LinearInterpolator<rw::math::Transform3D<T> > a friend. More...

#include <ParabolicBlend.hpp>

Inherits Blend< T >.

Public Member Functions
	ParabolicBlend (const LinearInterpolator< T > &line1, const LinearInterpolator< T > &line2, double tau)
	Constructs parabolic blend between line1 and line2 with tau as blend time. More...
	ParabolicBlend (const typename LinearInterpolator< T >::CPtr line1, const typename LinearInterpolator< T >::CPtr line2, double tau)
	Constructs parabolic blend between line1 and line2 with tau as blend time. The segments is copied for internal storage. More...
	ParabolicBlend (const typename LinearInterpolator< T >::Ptr line1, const typename LinearInterpolator< T >::Ptr line2, double tau)
	Constructs parabolic blend between line1 and line2 with tau as blend time. The segments is copied for internal storage. More...
	ParabolicBlend (const LinearInterpolator< T > *line1, const LinearInterpolator< T > *line2, double tau)
	Constructs parabolic blend between line1 and line2 with tau as blend time. The segments is copied for internal storage. More...
virtual	~ParabolicBlend ()
	Destructor.
virtual T	x (double t) const
	The position for a given time t. More...
virtual T	dx (double t) const
	The velocity for a given time t. More...
virtual T	ddx (double t) const
	The acceleration for a given time t. More...
double	duration () const
	get the duration of the blend More...
double	tau1 () const
double	tau2 () const
Public Member Functions inherited from Blend< T >
virtual	~Blend ()
	Destructor.

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

Detailed Description

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

Forward declaration for parabolic blend to make the LinearInterpolator<rw::math::Transform3D<T> > a friend.

Forward declaration for parabolic blend to make the RampInterpolator<rw::math::Transform3D<T> > a friend.

Implements a parabolic blend.

A parabolic blend is characterized by a constant acceleration through the blend. The current implementation only supports blending between linear segments.

Constructor & Destructor Documentation

ParabolicBlend() [1/4]

ParabolicBlend ( const LinearInterpolator< T > &  line1, const LinearInterpolator< T > &  line2, double  tau  )

inline

Constructs parabolic blend between line1 and line2 with tau as blend time.

Parameters

line1	[in] First segment
line2	[in] Second segment
tau	[in] Blend time

ParabolicBlend() [2/4]

ParabolicBlend ( const typename LinearInterpolator< T >::CPtr  line1, const typename LinearInterpolator< T >::CPtr  line2, double  tau  )

inlineexplicit

Constructs parabolic blend between line1 and line2 with tau as blend time. The segments is copied for internal storage.

Parameters

line1	[in] First segment
line2	[in] Second segment
tau	[in] Blend time

ParabolicBlend() [3/4]

ParabolicBlend ( const typename LinearInterpolator< T >::Ptr  line1, const typename LinearInterpolator< T >::Ptr  line2, double  tau  )

inline

Constructs parabolic blend between line1 and line2 with tau as blend time. The segments is copied for internal storage.

Parameters

line1	[in] First segment
line2	[in] Second segment
tau	[in] Blend time

ParabolicBlend() [4/4]

ParabolicBlend ( const LinearInterpolator< T > *  line1, const LinearInterpolator< T > *  line2, double  tau  )

inline

Constructs parabolic blend between line1 and line2 with tau as blend time. The segments is copied for internal storage.

Parameters

line1	[in] First segment.
line2	[in] Second segment
tau	[in] Blend time

Member Function Documentation

ddx()

virtual T ddx ( double  t ) const

inlinevirtual

The acceleration for a given time t.

Parameters

t	[in] \( t\in[0,\tau_1+\tau_2] \)

Returns

Acceleration at time t

Implements Blend< T >.

duration()

double duration ( ) const

inline

get the duration of the blend

Returns

duration

dx()

virtual T dx ( double  t ) const

inlinevirtual

The velocity for a given time t.

Parameters

t	[in] \( t\in[0,\tau_1+\tau_2] \)

Returns

Velocity at time t

Implements Blend< T >.

tau1()

double tau1 ( ) const

inlinevirtual

Note

For ParabolicBlend tau1()==tau2()

Implements Blend< T >.

tau2()

double tau2 ( ) const

inlinevirtual

Note

For ParabolicBlend tau1()==tau2()

Implements Blend< T >.

x()

virtual T x ( double  t ) const

inlinevirtual

The position for a given time t.

Parameters

t	[in] \( t\in[0,\tau_1+\tau_2] \)

Returns

Position at time t

Implements Blend< T >.

---

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

• LinearInterpolator.hpp
• ParabolicBlend.hpp