Package org.robwork.sdurw_trajectory

Class CubicSplineFactory

java.lang.Object

org.robwork.sdurw_trajectory.CubicSplineFactory

public class CubicSplineFactory
extends java.lang.Object

Factory for creating cubic splines

Constructor Summary

Constructors

Constructor	Description
CubicSplineFactory(long cPtr, boolean cMemoryOwn)

Method Summary

Modifier and Type	Method	Description
void	delete()
static long	getCPtr(CubicSplineFactory obj)
static InterpolatorTrajectoryQuaternionPtr	makeClampedSpline(PathQuaternion path, vector_d times, Quaternion dStart, Quaternion dEnd)	creates a clamped spline trajectory where the timed label is used to determine the time between samples.
static InterpolatorTrajectoryQuaternionPtr	makeClampedSpline(PathQuaternion path, Quaternion dStart, Quaternion dEnd)	creates a clamped spline trajectory with equally spaced via points.
static InterpolatorTrajectoryQuaternionPtr	makeClampedSpline(PathQuaternion path, Quaternion dStart, Quaternion dEnd, double timeStep)	creates a clamped spline trajectory with equally spaced via points.
static InterpolatorTrajectoryQPtr	makeClampedSpline(PathTimedQ tpath, Q dStart, Q dEnd)	creates a clamped spline trajectory where the timed label is used to determine the time between samples.
static InterpolatorTrajectoryTransform3DVectorPtr	makeClampedSpline(PathTransform3DVector path, vector_d times, Transform3DVector dStart, Transform3DVector dEnd)	creates a clamped spline trajectory where the timed label is used to determine the time between samples.
static InterpolatorTrajectoryTransform3DVectorPtr	makeClampedSpline(PathTransform3DVector path, Transform3DVector dStart, Transform3DVector dEnd)	creates a clamped spline trajectory with equally spaced via points.
static InterpolatorTrajectoryTransform3DVectorPtr	makeClampedSpline(PathTransform3DVector path, Transform3DVector dStart, Transform3DVector dEnd, double timeStep)	creates a clamped spline trajectory with equally spaced via points.
static InterpolatorTrajectoryQPtr	makeClampedSpline(SWIGTYPE_p_rw__core__PtrT_rw__trajectory__PathT_rw__math__Q_t_t qpath, Q dqStart, Q dqEnd)	creates a clamped spline trajectory with equally spaced via points.
static InterpolatorTrajectoryQPtr	makeClampedSpline(SWIGTYPE_p_rw__core__PtrT_rw__trajectory__PathT_rw__math__Q_t_t qpath, Q dqStart, Q dqEnd, double timeStep)	creates a clamped spline trajectory with equally spaced via points.
static InterpolatorTrajectoryQPtr	makeClampedSpline(SWIGTYPE_p_rw__core__PtrT_rw__trajectory__PathT_rw__trajectory__TimedT_rw__math__Q_t_t_t tqpath, Q dqStart, Q dqEnd)	creates a clamped spline trajectory where the timed label is used to determine the time between samples.
static InterpolatorTrajectoryQPtr	makeClampedSpline(SWIGTYPE_p_rw__trajectory__PathT_rw__math__Q_t path, vector_d times, Q dStart, Q dEnd)	creates a clamped spline trajectory where the timed label is used to determine the time between samples.
static InterpolatorTrajectoryQPtr	makeClampedSpline(SWIGTYPE_p_rw__trajectory__PathT_rw__math__Q_t path, Q dStart, Q dEnd)	creates a clamped spline trajectory with equally spaced via points.
static InterpolatorTrajectoryQPtr	makeClampedSpline(SWIGTYPE_p_rw__trajectory__PathT_rw__math__Q_t path, Q dStart, Q dEnd, double timeStep)	creates a clamped spline trajectory with equally spaced via points.
static InterpolatorTrajectoryVector3DPtr	makeClampedSpline(SWIGTYPE_p_rw__trajectory__PathT_rw__math__Vector3DT_double_t_t path, vector_d times, Vector3D dStart, Vector3D dEnd)	creates a clamped spline trajectory where the timed label is used to determine the time between samples.
static InterpolatorTrajectoryVector3DPtr	makeClampedSpline(SWIGTYPE_p_rw__trajectory__PathT_rw__math__Vector3DT_double_t_t path, Vector3D dStart, Vector3D dEnd)	creates a clamped spline trajectory with equally spaced via points.
static InterpolatorTrajectoryVector3DPtr	makeClampedSpline(SWIGTYPE_p_rw__trajectory__PathT_rw__math__Vector3DT_double_t_t path, Vector3D dStart, Vector3D dEnd, double timeStep)	creates a clamped spline trajectory with equally spaced via points.
static InterpolatorTrajectoryQuaternionPtr	makeClampedSpline(SWIGTYPE_p_rw__trajectory__PathT_rw__trajectory__TimedT_rw__math__QuaternionT_double_t_t_t tpath, Quaternion dStart, Quaternion dEnd)	creates a clamped spline trajectory where the timed label is used to determine the time between samples.
static InterpolatorTrajectoryTransform3DVectorPtr	makeClampedSpline(SWIGTYPE_p_rw__trajectory__PathT_rw__trajectory__TimedT_rw__math__Transform3DVectorT_double_t_t_t tpath, Transform3DVector dStart, Transform3DVector dEnd)	creates a clamped spline trajectory where the timed label is used to determine the time between samples.
static InterpolatorTrajectoryVector3DPtr	makeClampedSpline(SWIGTYPE_p_rw__trajectory__PathT_rw__trajectory__TimedT_rw__math__Vector3DT_double_t_t_t tpath, Vector3D dStart, Vector3D dEnd)	creates a clamped spline trajectory where the timed label is used to determine the time between samples.
static InterpolatorTrajectoryQuaternionPtr	makeNaturalSpline(PathQuaternion path)	constructs a free/natural cubic spline A natural cubic spline has free boundary conditions.
static InterpolatorTrajectoryQuaternionPtr	makeNaturalSpline(PathQuaternion path, double timeStep)	constructs a free/natural cubic spline A natural cubic spline has free boundary conditions.
static InterpolatorTrajectoryQuaternionPtr	makeNaturalSpline(PathQuaternion path, vector_d times)	Construct a natural cubic spline.
static InterpolatorTrajectoryQPtr	makeNaturalSpline(PathTimedQ path)	constructs a natural cubic spline, see above.
static InterpolatorTrajectoryTransform3DVectorPtr	makeNaturalSpline(PathTimedTransform3D path)	constructs a natural cubic spline, see above.
static InterpolatorTrajectoryTransform3DVectorPtr	makeNaturalSpline(PathTransform3DVector path)	constructs a free/natural cubic spline A natural cubic spline has free boundary conditions.
static InterpolatorTrajectoryTransform3DVectorPtr	makeNaturalSpline(PathTransform3DVector path, double timeStep)	constructs a free/natural cubic spline A natural cubic spline has free boundary conditions.
static InterpolatorTrajectoryTransform3DVectorPtr	makeNaturalSpline(PathTransform3DVector path, vector_d times)	Construct a natural cubic spline.
static InterpolatorTrajectoryQPtr	makeNaturalSpline(SWIGTYPE_p_rw__core__PtrT_rw__trajectory__PathT_rw__math__Q_t_t qpath)	constructs a free/natural cubic spline A natural cubic spline has free boundary conditions.
static InterpolatorTrajectoryQPtr	makeNaturalSpline(SWIGTYPE_p_rw__core__PtrT_rw__trajectory__PathT_rw__math__Q_t_t qpath, double timeStep)	constructs a free/natural cubic spline A natural cubic spline has free boundary conditions.
static InterpolatorTrajectoryQPtr	makeNaturalSpline(SWIGTYPE_p_rw__core__PtrT_rw__trajectory__PathT_rw__trajectory__TimedT_rw__math__Q_t_t_t tqpath)	constructs a natural cubic spline, see above.
static InterpolatorTrajectoryQPtr	makeNaturalSpline(SWIGTYPE_p_rw__trajectory__PathT_rw__math__Q_t path)	constructs a free/natural cubic spline A natural cubic spline has free boundary conditions.
static InterpolatorTrajectoryQPtr	makeNaturalSpline(SWIGTYPE_p_rw__trajectory__PathT_rw__math__Q_t path, double timeStep)	constructs a free/natural cubic spline A natural cubic spline has free boundary conditions.
static InterpolatorTrajectoryQPtr	makeNaturalSpline(SWIGTYPE_p_rw__trajectory__PathT_rw__math__Q_t qpath, vector_d times)	Construct a natural cubic spline.
static InterpolatorTrajectoryTransform3DVectorPtr	makeNaturalSpline(SWIGTYPE_p_rw__trajectory__PathT_rw__math__Transform3DT_double_t_t path)	constructs a free/natural cubic spline A natural cubic spline has free boundary conditions.
static InterpolatorTrajectoryTransform3DVectorPtr	makeNaturalSpline(SWIGTYPE_p_rw__trajectory__PathT_rw__math__Transform3DT_double_t_t path, double timeStep)	constructs a free/natural cubic spline A natural cubic spline has free boundary conditions.
static InterpolatorTrajectoryTransform3DVectorPtr	makeNaturalSpline(SWIGTYPE_p_rw__trajectory__PathT_rw__math__Transform3DT_double_t_t path, vector_d times)	Construct a natural cubic spline.
static InterpolatorTrajectoryVector3DPtr	makeNaturalSpline(SWIGTYPE_p_rw__trajectory__PathT_rw__math__Vector3DT_double_t_t path)	constructs a free/natural cubic spline A natural cubic spline has free boundary conditions.
static InterpolatorTrajectoryVector3DPtr	makeNaturalSpline(SWIGTYPE_p_rw__trajectory__PathT_rw__math__Vector3DT_double_t_t path, double timeStep)	constructs a free/natural cubic spline A natural cubic spline has free boundary conditions.
static InterpolatorTrajectoryVector3DPtr	makeNaturalSpline(SWIGTYPE_p_rw__trajectory__PathT_rw__math__Vector3DT_double_t_t path, vector_d times)	Construct a natural cubic spline.
static InterpolatorTrajectoryQuaternionPtr	makeNaturalSpline(SWIGTYPE_p_rw__trajectory__PathT_rw__trajectory__TimedT_rw__math__QuaternionT_double_t_t_t path)	constructs a natural cubic spline, see above.
static InterpolatorTrajectoryTransform3DVectorPtr	makeNaturalSpline(SWIGTYPE_p_rw__trajectory__PathT_rw__trajectory__TimedT_rw__math__Transform3DVectorT_double_t_t_t path)	constructs a natural cubic spline, see above.
static InterpolatorTrajectoryVector3DPtr	makeNaturalSpline(SWIGTYPE_p_rw__trajectory__PathT_rw__trajectory__TimedT_rw__math__Vector3DT_double_t_t_t path)	constructs a natural cubic spline, see above.
static InterpolatorTrajectoryQuaternionPtr	makeSQUAD(PathQuaternion path)	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.
static InterpolatorTrajectoryQuaternionPtr	makeSQUAD(PathQuaternion path, double timeStep)	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.
static InterpolatorTrajectoryQuaternionPtr	makeSQUAD(PathQuaternion path, vector_d times)	constructs a Spherical Spline Quaternion interpolation (SQUAD)
static InterpolatorTrajectoryQuaternionPtr	makeSQUAD(SWIGTYPE_p_rw__trajectory__PathT_rw__trajectory__TimedT_rw__math__QuaternionT_double_t_t_t tpath)	constructs a Spherical Spline Quaternion interpolation (SQUAD)

Methods inherited from class java.lang.Object

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

Constructor Detail

CubicSplineFactory

public CubicSplineFactory(long cPtr,
                          boolean cMemoryOwn)

Method Detail

getCPtr

public static long getCPtr(CubicSplineFactory obj)

delete

public void delete()

makeNaturalSpline

public static InterpolatorTrajectoryQPtr makeNaturalSpline(SWIGTYPE_p_rw__core__PtrT_rw__trajectory__PathT_rw__math__Q_t_t qpath,
                                                           double timeStep)

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 - [in] a list of points that the spline should intersect

timeStep - [in] the duration of each spline path

makeNaturalSpline

public static InterpolatorTrajectoryQPtr makeNaturalSpline(SWIGTYPE_p_rw__core__PtrT_rw__trajectory__PathT_rw__math__Q_t_t qpath)

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 - [in] a list of points that the spline should intersect

makeNaturalSpline

public static InterpolatorTrajectoryQPtr makeNaturalSpline(SWIGTYPE_p_rw__core__PtrT_rw__trajectory__PathT_rw__trajectory__TimedT_rw__math__Q_t_t_t tqpath)

constructs a natural cubic spline, see above.

Parameters:

tqpath - [in] a list of points with associated timestaps. The spline will intersect
the points at the time specified in tqpath
Conditional comment:

End of conditional comment.

Returns:

a trajectory of CubicSplineInterpolators

makeNaturalSpline

public static InterpolatorTrajectoryQPtr makeNaturalSpline(SWIGTYPE_p_rw__trajectory__PathT_rw__math__Q_t qpath,
                                                           vector_d times)

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

Parameters:

qpath - [in] Path to follow

times - [in] Times associated to the different configurations in qpath

Returns:

a trajectory of CubicSplineInterpolators

makeNaturalSpline

public static InterpolatorTrajectoryTransform3DVectorPtr makeNaturalSpline(SWIGTYPE_p_rw__trajectory__PathT_rw__math__Transform3DT_double_t_t path,
                                                                           double timeStep)

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 - [in] a list of points that the spline should intersect

timeStep - [in] the duration of each spline path

makeNaturalSpline

public static InterpolatorTrajectoryTransform3DVectorPtr makeNaturalSpline(SWIGTYPE_p_rw__trajectory__PathT_rw__math__Transform3DT_double_t_t path)

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 - [in] a list of points that the spline should intersect

makeNaturalSpline

public static InterpolatorTrajectoryTransform3DVectorPtr makeNaturalSpline(PathTimedTransform3D path)

constructs a natural cubic spline, see above.

Parameters:

path - [in] a list of points with associated timestaps. The spline will intersect
the points at the time specified in tqpath
Conditional comment:

End of conditional comment.

Returns:

a trajectory of CubicSplineInterpolators

makeNaturalSpline

public static InterpolatorTrajectoryTransform3DVectorPtr makeNaturalSpline(SWIGTYPE_p_rw__trajectory__PathT_rw__math__Transform3DT_double_t_t path,
                                                                           vector_d times)

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

Parameters:

path - [in] Path to follow

times - [in] Times associated to the different configurations in path

Returns:

a trajectory of CubicSplineInterpolators

makeClampedSpline

public static InterpolatorTrajectoryQPtr makeClampedSpline(SWIGTYPE_p_rw__core__PtrT_rw__trajectory__PathT_rw__math__Q_t_t qpath,
                                                           Q dqStart,
                                                           Q dqEnd,
                                                           double timeStep)

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.

Parameters:

qpath - [in] the path over which the spline should be generated.

dqStart - [in] the velocity in the first point

dqEnd - [in] the velocity in the last point.

timeStep - documentation missing !

Returns:

a trajectory of CubicSplineInterpolators
Note: the following template parameters are currently supported:
Transform3DVector, Vector3D, Quaternion

makeClampedSpline

public static InterpolatorTrajectoryQPtr makeClampedSpline(SWIGTYPE_p_rw__core__PtrT_rw__trajectory__PathT_rw__math__Q_t_t qpath,
                                                           Q dqStart,
                                                           Q dqEnd)

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.

Parameters:

qpath - [in] the path over which the spline should be generated.

dqStart - [in] the velocity in the first point

dqEnd - [in] the velocity in the last point.

Returns:

a trajectory of CubicSplineInterpolators
Note: the following template parameters are currently supported:
Transform3DVector, Vector3D, Quaternion

makeClampedSpline

public static InterpolatorTrajectoryQPtr makeClampedSpline(SWIGTYPE_p_rw__core__PtrT_rw__trajectory__PathT_rw__trajectory__TimedT_rw__math__Q_t_t_t tqpath,
                                                           Q dqStart,
                                                           Q dqEnd)

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.

Parameters:

tqpath - [in] the path over which the spline should be generated.

dqStart - [in] the velocity in the first point

dqEnd - [in] the velocity in the last point.

Returns:

a trajectory of CubicSplineInterpolators
Note: the following template parameters are currently supported:
Transform3DVector, Vector3D, Quaternion

makeSQUAD

public static InterpolatorTrajectoryQuaternionPtr makeSQUAD(PathQuaternion path,
                                                            double timeStep)

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 - [in] a list of points that the SQUAD should intersect

timeStep - [in] the duration of each SQUAD path

Returns:

a trajectory of SQUADInterpolators

makeSQUAD

public static InterpolatorTrajectoryQuaternionPtr makeSQUAD(PathQuaternion path)

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 - [in] a list of points that the SQUAD should intersect

Returns:

a trajectory of SQUADInterpolators

makeSQUAD

public static InterpolatorTrajectoryQuaternionPtr makeSQUAD(SWIGTYPE_p_rw__trajectory__PathT_rw__trajectory__TimedT_rw__math__QuaternionT_double_t_t_t tpath)

constructs a Spherical Spline Quaternion interpolation (SQUAD)

Parameters:

tpath - [in] a list of points with associated timestaps. The SQUAD will intersect
the points at the time specified in tpath

Returns:

a trajectory of SQUADInterpolators

makeSQUAD

public static InterpolatorTrajectoryQuaternionPtr makeSQUAD(PathQuaternion path,
                                                            vector_d times)

constructs a Spherical Spline Quaternion interpolation (SQUAD)

Parameters:

path - [in] Path to follow

times - [in] Times associated to the different configurations in qpath

Returns:

a trajectory of CubicSplineInterpolators

makeNaturalSpline

public static InterpolatorTrajectoryVector3DPtr makeNaturalSpline(SWIGTYPE_p_rw__trajectory__PathT_rw__math__Vector3DT_double_t_t path,
                                                                  double timeStep)

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 - [in] a list of points that the spline should intersect

timeStep - [in] the duration of each spline path

Returns:

the Interpolated Trajectory of the Cubic spline
Note: the following template parameters are currently supported:
Transform3DVector, Vector3D, Quaternion

makeNaturalSpline

public static InterpolatorTrajectoryVector3DPtr makeNaturalSpline(SWIGTYPE_p_rw__trajectory__PathT_rw__math__Vector3DT_double_t_t path)

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 - [in] a list of points that the spline should intersect

Returns:

the Interpolated Trajectory of the Cubic spline
Note: the following template parameters are currently supported:
Transform3DVector, Vector3D, Quaternion

makeNaturalSpline

public static InterpolatorTrajectoryVector3DPtr makeNaturalSpline(SWIGTYPE_p_rw__trajectory__PathT_rw__trajectory__TimedT_rw__math__Vector3DT_double_t_t_t path)

constructs a natural cubic spline, see above.

Parameters:

path - [in] a list of points with associated timestaps. The spline will intersect
the points at the time specified in tqpath
Conditional comment:

End of conditional comment.

Returns:

a trajectory of CubicSplineInterpolators
Note: the following template parameters are currently supported:
Transform3DVector, Vector3D, Quaternion

makeNaturalSpline

public static InterpolatorTrajectoryVector3DPtr makeNaturalSpline(SWIGTYPE_p_rw__trajectory__PathT_rw__math__Vector3DT_double_t_t path,
                                                                  vector_d times)

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

Parameters:

path - [in] Path to follow

times - [in] Times associated to the different configurations in path

Returns:

a trajectory of CubicSplineInterpolators
Note: the following template parameters are currently supported:
Transform3DVector, Vector3D, Quaternion

makeNaturalSpline

public static InterpolatorTrajectoryTransform3DVectorPtr makeNaturalSpline(PathTransform3DVector path,
                                                                           double timeStep)

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 - [in] a list of points that the spline should intersect

timeStep - [in] the duration of each spline path

Returns:

the Interpolated Trajectory of the Cubic spline
Note: the following template parameters are currently supported:
Transform3DVector, Vector3D, Quaternion

makeNaturalSpline

public static InterpolatorTrajectoryTransform3DVectorPtr makeNaturalSpline(PathTransform3DVector path)

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 - [in] a list of points that the spline should intersect

Returns:

the Interpolated Trajectory of the Cubic spline
Note: the following template parameters are currently supported:
Transform3DVector, Vector3D, Quaternion

makeNaturalSpline

public static InterpolatorTrajectoryTransform3DVectorPtr makeNaturalSpline(SWIGTYPE_p_rw__trajectory__PathT_rw__trajectory__TimedT_rw__math__Transform3DVectorT_double_t_t_t path)

constructs a natural cubic spline, see above.

Parameters:

path - [in] a list of points with associated timestaps. The spline will intersect
the points at the time specified in tqpath
Conditional comment:

End of conditional comment.

Returns:

a trajectory of CubicSplineInterpolators
Note: the following template parameters are currently supported:
Transform3DVector, Vector3D, Quaternion

makeNaturalSpline

public static InterpolatorTrajectoryTransform3DVectorPtr makeNaturalSpline(PathTransform3DVector path,
                                                                           vector_d times)

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

Parameters:

path - [in] Path to follow

times - [in] Times associated to the different configurations in path

Returns:

a trajectory of CubicSplineInterpolators
Note: the following template parameters are currently supported:
Transform3DVector, Vector3D, Quaternion

makeNaturalSpline

public static InterpolatorTrajectoryQPtr makeNaturalSpline(SWIGTYPE_p_rw__trajectory__PathT_rw__math__Q_t path,
                                                           double timeStep)

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 - [in] a list of points that the spline should intersect

timeStep - [in] the duration of each spline path

Returns:

the Interpolated Trajectory of the Cubic spline
Note: the following template parameters are currently supported:
Transform3DVector, Vector3D, Quaternion

makeNaturalSpline

public static InterpolatorTrajectoryQPtr makeNaturalSpline(SWIGTYPE_p_rw__trajectory__PathT_rw__math__Q_t path)

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 - [in] a list of points that the spline should intersect

Returns:

the Interpolated Trajectory of the Cubic spline
Note: the following template parameters are currently supported:
Transform3DVector, Vector3D, Quaternion

makeNaturalSpline

public static InterpolatorTrajectoryQPtr makeNaturalSpline(PathTimedQ path)

constructs a natural cubic spline, see above.

Parameters:

path - [in] a list of points with associated timestaps. The spline will intersect
the points at the time specified in tqpath
Conditional comment:

End of conditional comment.

Returns:

a trajectory of CubicSplineInterpolators
Note: the following template parameters are currently supported:
Transform3DVector, Vector3D, Quaternion

makeNaturalSpline

public static InterpolatorTrajectoryQuaternionPtr makeNaturalSpline(PathQuaternion path,
                                                                    double timeStep)

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 - [in] a list of points that the spline should intersect

timeStep - [in] the duration of each spline path

Returns:

the Interpolated Trajectory of the Cubic spline
Note: the following template parameters are currently supported:
Transform3DVector, Vector3D, Quaternion

makeNaturalSpline

public static InterpolatorTrajectoryQuaternionPtr makeNaturalSpline(PathQuaternion path)

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 - [in] a list of points that the spline should intersect

Returns:

the Interpolated Trajectory of the Cubic spline
Note: the following template parameters are currently supported:
Transform3DVector, Vector3D, Quaternion

makeNaturalSpline

public static InterpolatorTrajectoryQuaternionPtr makeNaturalSpline(SWIGTYPE_p_rw__trajectory__PathT_rw__trajectory__TimedT_rw__math__QuaternionT_double_t_t_t path)

constructs a natural cubic spline, see above.

Parameters:

path - [in] a list of points with associated timestaps. The spline will intersect
the points at the time specified in tqpath
Conditional comment:

End of conditional comment.

Returns:

a trajectory of CubicSplineInterpolators
Note: the following template parameters are currently supported:
Transform3DVector, Vector3D, Quaternion

makeNaturalSpline

public static InterpolatorTrajectoryQuaternionPtr makeNaturalSpline(PathQuaternion path,
                                                                    vector_d times)

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

Parameters:

path - [in] Path to follow

times - [in] Times associated to the different configurations in path

Returns:

a trajectory of CubicSplineInterpolators
Note: the following template parameters are currently supported:
Transform3DVector, Vector3D, Quaternion

makeClampedSpline

public static InterpolatorTrajectoryVector3DPtr makeClampedSpline(SWIGTYPE_p_rw__trajectory__PathT_rw__math__Vector3DT_double_t_t path,
                                                                  Vector3D dStart,
                                                                  Vector3D dEnd,
                                                                  double timeStep)

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.

Parameters:

path - [in] the path over which the spline should be generated.

dStart - [in] the velocity in the first point

dEnd - [in] the velocity in the last point.

timeStep - documentation missing !

Returns:

a trajectory of CubicSplineInterpolators
Note: the following template parameters are currently supported:
Transform3DVector, Vector3D, Quaternion

makeClampedSpline

public static InterpolatorTrajectoryVector3DPtr makeClampedSpline(SWIGTYPE_p_rw__trajectory__PathT_rw__math__Vector3DT_double_t_t path,
                                                                  Vector3D dStart,
                                                                  Vector3D dEnd)

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.

Parameters:

path - [in] the path over which the spline should be generated.

dStart - [in] the velocity in the first point

dEnd - [in] the velocity in the last point.

Returns:

a trajectory of CubicSplineInterpolators
Note: the following template parameters are currently supported:
Transform3DVector, Vector3D, Quaternion

makeClampedSpline

public static InterpolatorTrajectoryVector3DPtr makeClampedSpline(SWIGTYPE_p_rw__trajectory__PathT_rw__trajectory__TimedT_rw__math__Vector3DT_double_t_t_t tpath,
                                                                  Vector3D dStart,
                                                                  Vector3D dEnd)

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.

Parameters:

tpath - [in] the path over which the spline should be generated.

dStart - [in] the velocity in the first point

dEnd - [in] the velocity in the last point.

Returns:

a trajectory of CubicSplineInterpolators
Note: the following template parameters are currently supported:
Transform3DVector, Vector3D, Quaternion

makeClampedSpline

public static InterpolatorTrajectoryVector3DPtr makeClampedSpline(SWIGTYPE_p_rw__trajectory__PathT_rw__math__Vector3DT_double_t_t path,
                                                                  vector_d times,
                                                                  Vector3D dStart,
                                                                  Vector3D dEnd)

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.

Parameters:

path - [in] the path over which the spline should be generated.

times - [in] the times associated to the configurations in path.

dStart - [in] the velocity in the first point

dEnd - [in] the velocity in the last point.

Returns:

a trajectory of CubicSplineInterpolators
Note: the following template parameters are currently supported:
Transform3DVector, Vector3D, Quaternion

makeClampedSpline

public static InterpolatorTrajectoryTransform3DVectorPtr makeClampedSpline(PathTransform3DVector path,
                                                                           Transform3DVector dStart,
                                                                           Transform3DVector dEnd,
                                                                           double timeStep)

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.

Parameters:

path - [in] the path over which the spline should be generated.

dStart - [in] the velocity in the first point

dEnd - [in] the velocity in the last point.

timeStep - documentation missing !

Returns:

a trajectory of CubicSplineInterpolators
Note: the following template parameters are currently supported:
Transform3DVector, Vector3D, Quaternion

makeClampedSpline

public static InterpolatorTrajectoryTransform3DVectorPtr makeClampedSpline(PathTransform3DVector path,
                                                                           Transform3DVector dStart,
                                                                           Transform3DVector dEnd)

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.

Parameters:

path - [in] the path over which the spline should be generated.

dStart - [in] the velocity in the first point

dEnd - [in] the velocity in the last point.

Returns:

a trajectory of CubicSplineInterpolators
Note: the following template parameters are currently supported:
Transform3DVector, Vector3D, Quaternion

makeClampedSpline

public static InterpolatorTrajectoryTransform3DVectorPtr makeClampedSpline(SWIGTYPE_p_rw__trajectory__PathT_rw__trajectory__TimedT_rw__math__Transform3DVectorT_double_t_t_t tpath,
                                                                           Transform3DVector dStart,
                                                                           Transform3DVector dEnd)

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.

Parameters:

tpath - [in] the path over which the spline should be generated.

dStart - [in] the velocity in the first point

dEnd - [in] the velocity in the last point.

Returns:

a trajectory of CubicSplineInterpolators
Note: the following template parameters are currently supported:
Transform3DVector, Vector3D, Quaternion

makeClampedSpline

public static InterpolatorTrajectoryTransform3DVectorPtr makeClampedSpline(PathTransform3DVector path,
                                                                           vector_d times,
                                                                           Transform3DVector dStart,
                                                                           Transform3DVector dEnd)

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.

Parameters:

path - [in] the path over which the spline should be generated.

times - [in] the times associated to the configurations in path.

dStart - [in] the velocity in the first point

dEnd - [in] the velocity in the last point.

Returns:

a trajectory of CubicSplineInterpolators
Note: the following template parameters are currently supported:
Transform3DVector, Vector3D, Quaternion

makeClampedSpline

public static InterpolatorTrajectoryQPtr makeClampedSpline(SWIGTYPE_p_rw__trajectory__PathT_rw__math__Q_t path,
                                                           Q dStart,
                                                           Q dEnd,
                                                           double timeStep)

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.

Parameters:

path - [in] the path over which the spline should be generated.

dStart - [in] the velocity in the first point

dEnd - [in] the velocity in the last point.

timeStep - documentation missing !

Returns:

a trajectory of CubicSplineInterpolators
Note: the following template parameters are currently supported:
Transform3DVector, Vector3D, Quaternion

makeClampedSpline

public static InterpolatorTrajectoryQPtr makeClampedSpline(SWIGTYPE_p_rw__trajectory__PathT_rw__math__Q_t path,
                                                           Q dStart,
                                                           Q dEnd)

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.

Parameters:

path - [in] the path over which the spline should be generated.

dStart - [in] the velocity in the first point

dEnd - [in] the velocity in the last point.

Returns:

a trajectory of CubicSplineInterpolators
Note: the following template parameters are currently supported:
Transform3DVector, Vector3D, Quaternion

makeClampedSpline

public static InterpolatorTrajectoryQPtr makeClampedSpline(PathTimedQ tpath,
                                                           Q dStart,
                                                           Q dEnd)

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.

Parameters:

tpath - [in] the path over which the spline should be generated.

dStart - [in] the velocity in the first point

dEnd - [in] the velocity in the last point.

Returns:

a trajectory of CubicSplineInterpolators
Note: the following template parameters are currently supported:
Transform3DVector, Vector3D, Quaternion

makeClampedSpline

public static InterpolatorTrajectoryQPtr makeClampedSpline(SWIGTYPE_p_rw__trajectory__PathT_rw__math__Q_t path,
                                                           vector_d times,
                                                           Q dStart,
                                                           Q dEnd)

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.

Parameters:

path - [in] the path over which the spline should be generated.

times - [in] the times associated to the configurations in path.

dStart - [in] the velocity in the first point

dEnd - [in] the velocity in the last point.

Returns:

a trajectory of CubicSplineInterpolators
Note: the following template parameters are currently supported:
Transform3DVector, Vector3D, Quaternion

makeClampedSpline

public static InterpolatorTrajectoryQuaternionPtr makeClampedSpline(PathQuaternion path,
                                                                    Quaternion dStart,
                                                                    Quaternion dEnd,
                                                                    double timeStep)

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.

Parameters:

path - [in] the path over which the spline should be generated.

dStart - [in] the velocity in the first point

dEnd - [in] the velocity in the last point.

timeStep - documentation missing !

Returns:

a trajectory of CubicSplineInterpolators
Note: the following template parameters are currently supported:
Transform3DVector, Vector3D, Quaternion

makeClampedSpline

public static InterpolatorTrajectoryQuaternionPtr makeClampedSpline(PathQuaternion path,
                                                                    Quaternion dStart,
                                                                    Quaternion dEnd)

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.

Parameters:

path - [in] the path over which the spline should be generated.

dStart - [in] the velocity in the first point

dEnd - [in] the velocity in the last point.

Returns:

a trajectory of CubicSplineInterpolators
Note: the following template parameters are currently supported:
Transform3DVector, Vector3D, Quaternion

makeClampedSpline

public static InterpolatorTrajectoryQuaternionPtr makeClampedSpline(SWIGTYPE_p_rw__trajectory__PathT_rw__trajectory__TimedT_rw__math__QuaternionT_double_t_t_t tpath,
                                                                    Quaternion dStart,
                                                                    Quaternion dEnd)

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.

Parameters:

tpath - [in] the path over which the spline should be generated.

dStart - [in] the velocity in the first point

dEnd - [in] the velocity in the last point.

Returns:

a trajectory of CubicSplineInterpolators
Note: the following template parameters are currently supported:
Transform3DVector, Vector3D, Quaternion

makeClampedSpline

public static InterpolatorTrajectoryQuaternionPtr makeClampedSpline(PathQuaternion path,
                                                                    vector_d times,
                                                                    Quaternion dStart,
                                                                    Quaternion dEnd)

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.

Parameters:

path - [in] the path over which the spline should be generated.

times - [in] the times associated to the configurations in path.

dStart - [in] the velocity in the first point

dEnd - [in] the velocity in the last point.

Returns:

a trajectory of CubicSplineInterpolators
Note: the following template parameters are currently supported:
Transform3DVector, Vector3D, Quaternion