LimiterLinearInterpolator< T > Class Template Reference

This class implements an interpolator that will move from a start position to an end position, as fast as possible given a maximum velocity and acceleration. For Types with multiple dimensions, the slowest dimension will set a limit for the whole motion. More...

#include <LimiterLinearInterpolator.hpp>

Inherits Interpolator< T >.

Public Types
typedef rw::core::Ptr< LimiterLinearInterpolator >	Ptr
	smart pointer type to instance of class
typedef rw::core::Ptr< const LimiterLinearInterpolator >	CPtr
	smart pointer type const instance of class
Public Types inherited from Interpolator< T >
typedef rw::core::Ptr< Interpolator >	Ptr
	smart pointer type to this class

Public Member Functions
	LimiterLinearInterpolator (const T &start, const T &end, const T &startVelocity, const T &maxVelocity, const T &maxAcceleration)
	This will interpolate a path starting with linear acceleration, and then transition to linear motion. Meaning X = X0 + V0*t + 0.5*a*t^2 for t < switchTime and X = V*t + X1 after the switch time. More...
T	x (double t) const
	Position at time t. More...
T	dx (double t) const
	Velocity at time t. More...
T	ddx (double t) const
	Acceleration at time t. More...
T	getStart () const
	Returns the start position of the interpolator. More...
T	getEnd () const
	Returns the end position of the interpolator. More...
double	duration () const
	Returns the duration of the interpolator. More...
T	switchTime () const
Public Member Functions inherited from Interpolator< T >
virtual	~Interpolator ()
	Virtual destructor.

Detailed Description

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

This class implements an interpolator that will move from a start position to an end position, as fast as possible given a maximum velocity and acceleration. For Types with multiple dimensions, the slowest dimension will set a limit for the whole motion.

Template Parameters

T	The type of the position, velocity and acceleration. Currently implemented types are double, rw::math::Q, rw::math::Vector2D and rw::math::Vector3D

Constructor & Destructor Documentation

LimiterLinearInterpolator()

LimiterLinearInterpolator	(	const T &	start,
		const T &	end,
		const T &	startVelocity,
		const T &	maxVelocity,
		const T &	maxAcceleration
	)

This will interpolate a path starting with linear acceleration, and then transition to linear motion. Meaning X = X0 + V0*t + 0.5*a*t^2 for t < switchTime and X = V*t + X1 after the switch time.

Parameters

start	[in] start position
end	[in] end position
startVelocity	[in] start velocity
maxVelocity	[in] maximum velocity
maxAcceleration	[in] maximum acceleration

Exceptions

rw::common::Exception	is thrown the calculated duration is < 0
rw::common::Exception	is thrown if one of the dimensions can't calculate a valid parameter set that can keep it in continues motion while the slowest dimension is moving

Member Function Documentation

ddx()

T ddx ( double  t ) const

virtual

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()

T dx ( double  t ) const

virtual

Velocity at time t.

Parameters

t	[in] time between 0 and length

Returns

Velocity

Implements Interpolator< T >.

getEnd()

T getEnd ( ) const

inline

Returns the end position of the interpolator.

Returns

The end position of the interpolator

getStart()

T getStart ( ) const

inline

Returns the start position of the interpolator.

Returns

The start position of the interpolator

x()

T x ( double  t ) const

virtual

Position at time t.

Parameters

t	[in] time between 0 and length

Returns

Position

Implements Interpolator< T >.

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

• LimiterLinearInterpolator.hpp