Implements a fixed value interpolator.
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#include <FixedInterpolator.hpp>
Inherits Interpolator< T >.
template<class T>
class rw::trajectory::FixedInterpolator< T >
Implements a fixed value interpolator.
The FixedInterpolator will always return the same value and 0 for velocity and acceleration.
◆ FixedInterpolator() [1/2]
Constructs a FixedInterpolator with value value and duration duration.
It is assumed that the template type T can be zeroed by
for (size_t i = 0; i < _zeroValue.size(); i++)
_zeroValue[i] = 0;
to get proper return values for velocity and acceleration.
- Parameters
-
value | [in] Value to return for x(double t). |
duration | [in] Duration of the interpolator. |
◆ FixedInterpolator() [2/2]
Constructs a FixedInterpolator with value value, duration duration and returning zeroValue for velocity and acceleration.
- Parameters
-
value | [in] Value to return for x(double t). |
zeroValue | documentation missing ! |
duration | [in] Duration of the interpolator. |
◆ ddx()
Acceleration at time t.
- Parameters
-
t | [in] time between 0 and length |
- Returns
- Acceleration
Implements Interpolator< T >.
◆ duration()
double duration |
( |
| ) |
const |
|
inlinevirtual |
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.
- Returns
- duration
Implements Interpolator< T >.
◆ dx()
Velocity at time t.
- Parameters
-
t | [in] time between 0 and length |
- Returns
- Velocity
Implements Interpolator< T >.
◆ x()
Position at time t.
- Parameters
-
t | [in] time between 0 and length |
- Returns
- Position
Implements Interpolator< T >.
The documentation for this class was generated from the following file: