Package org.robwork.sdurw_trajectory

Class LloydHaywardBlendRotation3D

java.lang.Object

org.robwork.sdurw_trajectory.BlendRotation3D

org.robwork.sdurw_trajectory.LloydHaywardBlendRotation3D

public class LloydHaywardBlendRotation3D
extends BlendRotation3D

Implements LloydHayward blending

The LloydHayward blend [1], makes a smooth continous differentiable transition between
two interpolators.

[1]: J. Lloyd, V. Hayward. Real-Time Trajectory Generation Using Blend Functions,
Proc. Int. Conf. on Robotics and Automation, 1991, pp. 784-798.

Constructor Summary

Constructors

Constructor	Description
LloydHaywardBlendRotation3D(long cPtr, boolean cMemoryOwn)
LloydHaywardBlendRotation3D(InterpolatorRotation3D interpolator1, InterpolatorRotation3D interpolator2, double tau)	Constructs LloydHaywardBlend between interpolator1 and interpolator2. The blend starts tau before the end of interpolator1 and finished tau after the start of interpolator2.
LloydHaywardBlendRotation3D(InterpolatorRotation3D interpolator1, InterpolatorRotation3D interpolator2, double tau, double kappa)	Constructs LloydHaywardBlend between interpolator1 and interpolator2. The blend starts tau before the end of interpolator1 and finished tau after the start of interpolator2.

Method Summary

Modifier and Type	Method	Description
Rotation3D	ddx(double t)	The acceleration for a given time t
void	delete()
Rotation3D	dx(double t)	The velocity for a given time t
static long	getCPtr(LloydHaywardBlendRotation3D obj)
double	kappa()	Returns the kappa value used in the blend
double	tau1()	Note: For ParabolicBlend getTau1()==getTau2()
double	tau2()	Note: For ParabolicBlend getTau1()==getTau2()
Rotation3D	x(double t)	<T>::x

Methods inherited from class org.robwork.sdurw_trajectory.BlendRotation3D

getCPtr

Methods inherited from class java.lang.Object

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

Constructor Detail

LloydHaywardBlendRotation3D

public LloydHaywardBlendRotation3D(long cPtr,
                                   boolean cMemoryOwn)

LloydHaywardBlendRotation3D

public LloydHaywardBlendRotation3D(InterpolatorRotation3D interpolator1,
                                   InterpolatorRotation3D interpolator2,
                                   double tau,
                                   double kappa)

Constructs LloydHaywardBlend between interpolator1 and interpolator2.

The blend starts tau before the end of interpolator1 and finished tau after the
start of interpolator2. The constant kappa specifies characteristics of the blend
as described in [1].

Parameters:

interpolator1 - [in] First interpolator, no ownership transferred

interpolator2 - [in] Second interpolator, no ownership transferred

tau - [in] Blend time

kappa - [in] Blend characteristic (default 15/2 for acceleration minimal blend
between linie segments)

LloydHaywardBlendRotation3D

public LloydHaywardBlendRotation3D(InterpolatorRotation3D interpolator1,
                                   InterpolatorRotation3D interpolator2,
                                   double tau)

Constructs LloydHaywardBlend between interpolator1 and interpolator2.

The blend starts tau before the end of interpolator1 and finished tau after the
start of interpolator2. The constant kappa specifies characteristics of the blend
as described in [1].

Parameters:

interpolator1 - [in] First interpolator, no ownership transferred

interpolator2 - [in] Second interpolator, no ownership transferred

tau - [in] Blend time

Method Detail

getCPtr

public static long getCPtr(LloydHaywardBlendRotation3D obj)

delete

public void delete()

Overrides:

delete in class BlendRotation3D

x

public Rotation3D x(double t)

<T>::x

Overrides:

x in class BlendRotation3D

Parameters:

t - [in] t\in[0,\tau_1+\tau_2]

Returns:

Position at time t

dx

public Rotation3D dx(double t)

Description copied from class: BlendRotation3D

The velocity for a given time t

Overrides:

dx in class BlendRotation3D

Parameters:

t - [in] t\in[0,\tau_1+\tau_2]

Returns:

Velocity at time t

ddx

public Rotation3D ddx(double t)

Description copied from class: BlendRotation3D

The acceleration for a given time t

Overrides:

ddx in class BlendRotation3D

Parameters:

t - [in] t\in[0,\tau_1+\tau_2]

Returns:

Acceleration at time t

tau1

public double tau1()

Note: For ParabolicBlend getTau1()==getTau2()

Overrides:

tau1 in class BlendRotation3D

Returns:

\tau_1

tau2

public double tau2()

Note: For ParabolicBlend getTau1()==getTau2()

Overrides:

tau2 in class BlendRotation3D

Returns:

\tau_2

kappa

public double kappa()

Returns the kappa value used in the blend