Package org.robwork.sdurw_trajectory

Class CubicSplineInterpolatorRotation3D

java.lang.Object

org.robwork.sdurw_trajectory.InterpolatorRotation3D

org.robwork.sdurw_trajectory.CubicSplineInterpolatorRotation3D

public class CubicSplineInterpolatorRotation3D
extends 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

Constructor Summary

Constructors

Constructor	Description
CubicSplineInterpolatorRotation3D(long cPtr, boolean cMemoryOwn)
CubicSplineInterpolatorRotation3D(Rotation3D a, Rotation3D b, Rotation3D c, Rotation3D d, double duration)

Method Summary

Modifier and Type	Method	Description
Rotation3D	ddx(double t)	Note: The second derivative is a 1-degree polynomial: \bf{df}(t)= 2\cdot \bf{c} + 6\cdot \bf{d}\cdot t
void	delete()
double	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.
Rotation3D	dx(double t)	Note: 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
static long	getCPtr(CubicSplineInterpolatorRotation3D obj)
Rotation3D	x(double t)	Note: 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

Methods inherited from class org.robwork.sdurw_trajectory.InterpolatorRotation3D

getCPtr

Methods inherited from class java.lang.Object

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

Constructor Detail

CubicSplineInterpolatorRotation3D

public CubicSplineInterpolatorRotation3D(long cPtr,
                                         boolean cMemoryOwn)

CubicSplineInterpolatorRotation3D

public CubicSplineInterpolatorRotation3D(Rotation3D a,
                                         Rotation3D b,
                                         Rotation3D c,
                                         Rotation3D d,
                                         double duration)

Method Detail

getCPtr

public static long getCPtr(CubicSplineInterpolatorRotation3D obj)

delete

public void delete()

Overrides:

delete in class InterpolatorRotation3D

x

public Rotation3D x(double t)

Note: 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

Overrides:

x in class InterpolatorRotation3D

Parameters:

t - [in] time between 0 and length

Returns:

Position

dx

public Rotation3D dx(double t)

Note: 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

Overrides:

dx in class InterpolatorRotation3D

Parameters:

t - [in] time between 0 and length

Returns:

Velocity

ddx

public Rotation3D ddx(double t)

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

Overrides:

ddx in class InterpolatorRotation3D

Parameters:

t - [in] time between 0 and length

Returns:

Acceleration

duration

public double duration()

Description copied from class: InterpolatorRotation3D

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.

Overrides:

duration in class InterpolatorRotation3D

Returns:

duration