Package org.robwork.sdurw_trajectory

Class TrajectorySequenceQ

  • public class TrajectorySequenceQ
extends TrajectoryQ
    Combines a number of trajectories.

    Takes an arbitrary number of trajectories and combines them. The start time of the first
    trajectory determines the start time of the union. The remaining trajectories are appended
    discardless of their start time. The duration of the union corresponds to the sum of the
    duration of all the trajectories.

    The value returned in the transition between two trajectories, corresponds to the end point
    of the leading trajectory.

    Access to a value is O(lg n) with n being the number of trajectories combined.

    • Constructor Summary

      Constructors 
      Constructor Description
      TrajectorySequenceQ​(long cPtr, boolean cMemoryOwn)  

    • Method Summary

      All Methods Static Methods Instance Methods Concrete Methods 
      Modifier and Type Method Description
      Q ddx​(double t)
      Acceleration of trajectory at time t

      Returns the acceleration of the trajectory at time t \in[startTime(), endTime()].
      void delete()  
      double duration()
      Total duration of the trajectory.

      The duration of the Trajectory corresponds to the time it takes to
      run through it.

      If the trajectory is empty, then -1 is returned.
      Q dx​(double t)
      Velocity of trajectory at time t

      Returns the velocity of the trajectory at time t \in[startTime(), endTime()].
      static long getCPtr​(TrajectorySequenceQ obj)  
      TrajectoryIteratorQPtr getIterator​(double dt)
      Returns a bi-directional interator for running through the trajectory.

      For some trajectory types it may be significantly more efficient to run through
      using an iterator, rather than using random access.
      double startTime()
      Returns the startTime of the trajectory
      Q x​(double t)
      Position of trajectory at time t

      Returns the position of the trajectory at time t \in[startTime(), endTime()].

      • Methods inherited from class java.lang.Object

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

    • Constructor Detail

      • TrajectorySequenceQ

        public TrajectorySequenceQ​(long cPtr,
                           boolean cMemoryOwn)

    • Method Detail

      • x

        public Q x​(double t)
        Description copied from class: TrajectoryQ
        Position of trajectory at time t

        Returns the position of the trajectory at time t \in[startTime(), endTime()].

        Overrides:
        x in class TrajectoryQ
        Parameters:
        t - [in] time between startTime() and endTime()
        Returns:
        Position

      • dx

        public Q dx​(double t)
        Description copied from class: TrajectoryQ
        Velocity of trajectory at time t

        Returns the velocity of the trajectory at time t \in[startTime(), endTime()].

        Overrides:
        dx in class TrajectoryQ
        Parameters:
        t - [in] time between startTime() and endTime()
        Returns:
        Velocity

      • ddx

        public Q ddx​(double t)
        Description copied from class: TrajectoryQ
        Acceleration of trajectory at time t

        Returns the acceleration of the trajectory at time t \in[startTime(), endTime()].

        Overrides:
        ddx in class TrajectoryQ
        Parameters:
        t - [in] time between startTime() and endTime()
        Returns:
        Acceleration

      • duration

        public double duration()
        Description copied from class: TrajectoryQ
        Total duration of the trajectory.

        The duration of the Trajectory corresponds to the time it takes to
        run through it.

        If the trajectory is empty, then -1 is returned.
        Overrides:
        duration in class TrajectoryQ

      • startTime

        public double startTime()
        Description copied from class: TrajectoryQ
        Returns the startTime of the trajectory

        Overrides:
        startTime in class TrajectoryQ
        Returns:
        Start time

      • getIterator

        public TrajectoryIteratorQPtr getIterator​(double dt)
        Description copied from class: TrajectoryQ
        Returns a bi-directional interator for running through the trajectory.

        For some trajectory types it may be significantly more efficient to run through
        using an iterator, rather than using random access.

        Overrides:
        getIterator in class TrajectoryQ
        Parameters:
        dt - [in] The default time step used when using the ++ or -- operators in the
        iterator
        Pointer to the iterator. The pointer has ownership.