LloydHaywardBlend< rw::math::Transform3D< T > > Class Template Reference

Template specialization of LloydHaywardBlend for using a rw::math::Transform3D<T> More...

#include <LloydHaywardBlend.hpp>

Inherits Blend< rw::math::Transform3D< T > >.

Public Member Functions
	LloydHaywardBlend (Interpolator< rw::math::Transform3D< T >> *inter1, Interpolator< rw::math::Transform3D< T >> *inter2, double tau, double kappa=15/2)
	Constructs LloydHaywardBlend between inter1 and inter2. More...
virtual	~LloydHaywardBlend ()
	Destructor.
rw::math::Transform3D< T >	x (double t) const
	The position for a given time t. More...
rw::math::Transform3D< T >	dx (double t) const
	The velocity for a given time t. More...
rw::math::Transform3D< T >	ddx (double t) const
	The acceleration for a given time t. More...
double	tau1 () const
double	tau2 () const
double	kappa () const
	Returns the kappa value used in the blend.
Public Member Functions inherited from Blend< rw::math::Transform3D< T > >
virtual	~Blend ()
	Destructor.

Additional Inherited Members
Public Types inherited from Blend< rw::math::Transform3D< T > >
typedef rw::core::Ptr< Blend >	Ptr
	smart pointer type to this class

Detailed Description

template<class T>
class rw::trajectory::LloydHaywardBlend< rw::math::Transform3D< T > >

Template specialization of LloydHaywardBlend for using a rw::math::Transform3D<T>

The transform is encoded as a vector storing the position and the orientation as a quaternion.

Constructor & Destructor Documentation

LloydHaywardBlend()

LloydHaywardBlend ( Interpolator< rw::math::Transform3D< T >> *  inter1, Interpolator< rw::math::Transform3D< T >> *  inter2, double  tau, double  kappa = 15 / 2  )

inline

Constructs LloydHaywardBlend between inter1 and inter2.

The blend starts tau before the end of inter1 and finished tau after the start of inter2. The constant kappa specifies characteristics of the blend as described in [1].

Parameters

inter1	[in] First interpolator, no ownership transferred
inter2	[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()

rw::math::Transform3D<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< rw::math::Transform3D< T > >.

dx()

rw::math::Transform3D<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< rw::math::Transform3D< T > >.

tau1()

double tau1 ( ) const

inlinevirtual

Note

For ParabolicBlend getTau1()==getTau2()

Implements Blend< rw::math::Transform3D< T > >.

tau2()

double tau2 ( ) const

inlinevirtual

Note

For ParabolicBlend getTau1()==getTau2()

Implements Blend< rw::math::Transform3D< T > >.

x()

rw::math::Transform3D<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< rw::math::Transform3D< T > >.

---

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

• LloydHaywardBlend.hpp