LinearInterpolator< T > Class Template Reference

Make a linear interpolation between to position. More...

#include <LinearInterpolator.hpp>

Inherits Interpolator< T >.

Public Types
typedef rw::core::Ptr< LinearInterpolator >	Ptr
	smart pointer type to instance of class
typedef rw::core::Ptr< const LinearInterpolator >	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
	LinearInterpolator (const T &start, const T &end, double duration)
	Construct LinearInterpolator starting a start and finishing in end and taking duration 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...
Public Member Functions inherited from Interpolator< T >
virtual	~Interpolator ()
	Virtual destructor.

Detailed Description

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

Make a linear interpolation between to position.

Given a start \( \mathbf{s}\), end \(\mathbf{e}\) and duration \( d\) the interpolation is implemented as \(\mathbf{x}(t)=\mathbf{s} + (\mathbf{e}-\mathbf{s})*t/d\).

The template argument given needs to support addition with the "+" operator and scaling with a double using the "*" operator.

For use with a rw::math::Transform3D see the template specialization

Constructor & Destructor Documentation

LinearInterpolator()

LinearInterpolator ( const T &  start, const T &  end, double  duration  )

inline

Construct LinearInterpolator starting a start and finishing in end and taking duration time.

If duration <= 0 an exception is thrown

Parameters

start	[in] Start of interpolator
end	[in] End of interpolator
duration	[in] Time it takes to from one end to the other.

Member Function Documentation

ddx()

T ddx ( double  t ) const

inlinevirtual

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

inlinevirtual

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

inlinevirtual

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:

• LinearInterpolator.hpp