LloydHaywardBlend< T > Class Template Reference

Implements LloydHayward blending. More...

#include <LloydHaywardBlend.hpp>

Inherits Blend< T >.

Public Member Functions
	LloydHaywardBlend (Interpolator< T > *interpolator1, Interpolator< T > *interpolator2, double tau, double kappa=15/2)
	Constructs LloydHaywardBlend between interpolator1 and interpolator2. More...
virtual	~LloydHaywardBlend ()
	Destructor.
virtual T	x (double t) const
	The position for a given time t. More...
virtual T	dx (double t) const
	The velocity for a given time t. More...
virtual T	ddx (double t) const
	The acceleration for a given time t. More...
virtual double	tau1 () const
	The time \(\tau_1\) as defined in class definition. More...
virtual double	tau2 () const
	The time \(\tau_2\) as defined in class definition. More...
double	kappa () const
	Returns the kappa value used in the blend.
Public Member Functions inherited from Blend< T >
virtual	~Blend ()
	Destructor.

Additional Inherited Members
Public Types inherited from Blend< T >
typedef rw::core::Ptr< Blend >	Ptr
	smart pointer type to this class

Detailed Description

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

Implements LloydHayward blending.

The LloydHayward blend [1], makes a smooth continous differentiable transition between two interpolators.

[1]: J. Lloyd, V. Hayward. Real-Time Trajectory Generation Using Blend Functions, Proc. Int. Conf. on Robotics and Automation, 1991, pp. 784-798.

Constructor & Destructor Documentation

LloydHaywardBlend()

LloydHaywardBlend ( Interpolator< T > *  interpolator1, Interpolator< T > *  interpolator2, double  tau, double  kappa = 15 / 2  )

inline

Constructs LloydHaywardBlend between interpolator1 and interpolator2.

The blend starts tau before the end of interpolator1 and finished tau after the start of interpolator2. The constant kappa specifies characteristics of the blend as described in [1].

Parameters

interpolator1	[in] First interpolator, no ownership transferred
interpolator2	[in] Second interpolator, no ownership transferred
tau	[in] Blend time
kappa	[in] Blend characteristic (default 15/2 for acceleration minimal blend between linie segments)

Member Function Documentation

ddx()

virtual T ddx ( double  t ) const

inlinevirtual

The acceleration for a given time t.

Parameters

t	[in] \( t\in[0,\tau_1+\tau_2] \)

Returns

Acceleration at time t

Implements Blend< T >.

dx()

virtual T dx ( double  t ) const

inlinevirtual

The velocity for a given time t.

Parameters

t	[in] \( t\in[0,\tau_1+\tau_2] \)

Returns

Velocity at time t

Implements Blend< T >.

tau1()

virtual double tau1 ( ) const

inlinevirtual

The time \(\tau_1\) as defined in class definition.

Returns

\(\tau_1\)

Note

For ParabolicBlend getTau1()==getTau2()

Implements Blend< T >.

tau2()

virtual double tau2 ( ) const

inlinevirtual

The time \(\tau_2\) as defined in class definition.

Returns

\(\tau_2\)

Note

For ParabolicBlend getTau1()==getTau2()

Implements Blend< T >.

x()

virtual T x ( double  t ) const

inlinevirtual

The position for a given time t.

Parameters

t	[in] \( t\in[0,\tau_1+\tau_2] \)

Returns

Position at time t

Implements Blend< T >.

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

• LloydHaywardBlend.hpp