RobWorkProject  24.5.15-
Blend< T > Class Template Referenceabstract

Interface for blending. More...

#include <Blend.hpp>

## Public Types

typedef rw::core::Ptr< BlendPtr
smart pointer type to this class

## Public Member Functions

virtual ~Blend ()
Destructor.

virtual T x (double t) const =0
The position for a given time t. More...

virtual T dx (double t) const =0
The velocity for a given time t. More...

virtual T ddx (double t) const =0
The acceleration for a given time t. More...

virtual double tau1 () const =0
The time $$\tau_1$$ as defined in class definition. More...

virtual double tau2 () const =0
The time $$\tau_2$$ as defined in class definition. More...

## Detailed Description

### template<class T> class rw::trajectory::Blend< T >

Interface for blending.

A Blend describes a way to blend between to consecutive interpolators. If we let $$t_1$$ be the time switching from one interpolator to the next, then the blend control the path in the interval $$[t_1-\tau_1;t_1+\tau_2]$$.

See the specific implementations for at description of which template arguments that are valid.

## ◆ ddx()

 virtual T ddx ( double t ) const
pure virtual

The acceleration for a given time t.

Parameters
 t [in] $$t\in[0,\tau_1+\tau_2]$$
Returns
Acceleration at time t

## ◆ dx()

 virtual T dx ( double t ) const
pure virtual

The velocity for a given time t.

Parameters
 t [in] $$t\in[0,\tau_1+\tau_2]$$
Returns
Velocity at time t

## ◆ tau1()

 virtual double tau1 ( ) const
pure virtual

The time $$\tau_1$$ as defined in class definition.

Returns
$$\tau_1$$

## ◆ tau2()

 virtual double tau2 ( ) const
pure virtual

The time $$\tau_2$$ as defined in class definition.

Returns
$$\tau_2$$

## ◆ x()

 virtual T x ( double t ) const
pure virtual

The position for a given time t.

Parameters
 t [in] $$t\in[0,\tau_1+\tau_2]$$
Returns
Position at time t

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