RobWorkProject: Interpolator< T > Class Template Reference

RobWorkProject 24.12.4-

Interface for interpolators. More...

#include <Interpolator.hpp>

Inherited by RampInterpolator< rw::math::Q >, CircularInterpolator< T >, CubicSplineInterpolator< T >, FixedInterpolator< T >, LimiterLinearInterpolator< T >, LinearInterpolator< T >, and RampInterpolator< T >.

Public Types
typedef rw::core::Ptr< Interpolator >	Ptr
	smart pointer type to this class

Public Member Functions
virtual	~Interpolator ()
	Virtual destructor.

virtual T	x (double t) const =0
	Position at time t. More...

virtual T	dx (double t) const =0
	Velocity at time t. More...

virtual T	ddx (double t) const =0
	Acceleration at time t. More...

virtual double	duration () const =0
	Returns the duration of the interpolator. More...

Detailed Description

template<class T>
class rw::trajectory::Interpolator< T >

Interface for interpolators.

See the specific implementations for more details

Member Function Documentation

◆ ddx()

virtual T ddx ( double t ) const

pure virtual

Acceleration at time t.

Parameters

t	[in] time between 0 and length

Returns: Acceleration

Implemented in SQUADInterpolator< T >, RampInterpolator< rw::math::Transform3D< T > >, RampInterpolator< rw::math::Vector3D< T > >, RampInterpolator< rw::math::Rotation3D< T > >, RampInterpolator< double >, RampInterpolator< T >, RampInterpolator< rw::math::Q >, LinearInterpolator< rw::math::Transform3D< T > >, LinearInterpolator< rw::math::Rotation3D< T > >, LinearInterpolator< T >, LinearInterpolator< rw::math::Vector3D< T > >, LimiterLinearInterpolator< T >, InterpolatorUtil::Transform2VectorWrapper< V, T >, FixedInterpolator< T >, CubicSplineInterpolator< rw::math::Transform3DVector< T > >, CubicSplineInterpolator< rw::math::Transform3D< T > >, CubicSplineInterpolator< rw::math::Rotation3D< T > >, CubicSplineInterpolator< T >, CubicSplineInterpolator< rw::math::Vector3D< T > >, CubicSplineInterpolator< rw::math::Quaternion< T > >, and CircularInterpolator< rw::math::Vector3D< T > >.

◆ duration()

virtual double duration ( ) const

pure virtual

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

Implemented in SQUADInterpolator< T >, RampInterpolator< rw::math::Transform3D< T > >, RampInterpolator< rw::math::Vector3D< T > >, RampInterpolator< rw::math::Rotation3D< T > >, RampInterpolator< double >, RampInterpolator< T >, RampInterpolator< rw::math::Q >, LinearInterpolator< rw::math::Transform3D< T > >, LinearInterpolator< rw::math::Rotation3D< T > >, LinearInterpolator< T >, LinearInterpolator< rw::math::Vector3D< T > >, LimiterLinearInterpolator< T >, InterpolatorUtil::Transform2VectorWrapper< V, T >, FixedInterpolator< T >, CubicSplineInterpolator< rw::math::Transform3DVector< T > >, CubicSplineInterpolator< rw::math::Transform3D< T > >, CubicSplineInterpolator< rw::math::Rotation3D< T > >, CubicSplineInterpolator< T >, CubicSplineInterpolator< rw::math::Vector3D< T > >, CubicSplineInterpolator< rw::math::Quaternion< T > >, and CircularInterpolator< rw::math::Vector3D< T > >.

◆ dx()

virtual T dx ( double t ) const

pure virtual

Velocity at time t.

Parameters

t	[in] time between 0 and length

Returns: Velocity

Implemented in SQUADInterpolator< T >, RampInterpolator< rw::math::Transform3D< T > >, RampInterpolator< rw::math::Vector3D< T > >, RampInterpolator< rw::math::Rotation3D< T > >, RampInterpolator< double >, RampInterpolator< T >, RampInterpolator< rw::math::Q >, LinearInterpolator< rw::math::Transform3D< T > >, LinearInterpolator< rw::math::Rotation3D< T > >, LinearInterpolator< T >, LinearInterpolator< rw::math::Vector3D< T > >, LimiterLinearInterpolator< T >, InterpolatorUtil::Transform2VectorWrapper< V, T >, FixedInterpolator< T >, CubicSplineInterpolator< rw::math::Transform3DVector< T > >, CubicSplineInterpolator< rw::math::Transform3D< T > >, CubicSplineInterpolator< rw::math::Rotation3D< T > >, CubicSplineInterpolator< T >, CubicSplineInterpolator< rw::math::Vector3D< T > >, CubicSplineInterpolator< rw::math::Quaternion< T > >, and CircularInterpolator< rw::math::Vector3D< T > >.

◆ x()

virtual T x ( double t ) const

pure virtual

Position at time t.

Parameters

t	[in] time between 0 and length

Returns: Position

Implemented in SQUADInterpolator< T >, RampInterpolator< rw::math::Transform3D< T > >, RampInterpolator< rw::math::Vector3D< T > >, RampInterpolator< rw::math::Rotation3D< T > >, RampInterpolator< double >, RampInterpolator< T >, RampInterpolator< rw::math::Q >, LinearInterpolator< rw::math::Transform3D< T > >, LinearInterpolator< rw::math::Rotation3D< T > >, LinearInterpolator< T >, LinearInterpolator< rw::math::Vector3D< T > >, LimiterLinearInterpolator< T >, InterpolatorUtil::Transform2VectorWrapper< V, T >, FixedInterpolator< T >, CubicSplineInterpolator< rw::math::Transform3DVector< T > >, CubicSplineInterpolator< rw::math::Transform3D< T > >, CubicSplineInterpolator< rw::math::Rotation3D< T > >, CubicSplineInterpolator< T >, CubicSplineInterpolator< rw::math::Vector3D< T > >, CubicSplineInterpolator< rw::math::Quaternion< T > >, and CircularInterpolator< rw::math::Vector3D< T > >.

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

Interpolator.hpp