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

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

#include <ParabolicBlend.hpp>

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

Public Member Functions
	ParabolicBlend (rw::core::Ptr< rw::trajectory::LinearInterpolator< rw::math::Transform3D< T >>> line1, rw::core::Ptr< rw::trajectory::LinearInterpolator< rw::math::Transform3D< T >>> line2, double tau)
	Constructs parabolic blend between line1 and line2 with tau as blend time. More...
	ParabolicBlend (rw::core::Ptr< const rw::trajectory::LinearInterpolator< rw::math::Transform3D< T >>> line1, rw::core::Ptr< const rw::trajectory::LinearInterpolator< rw::math::Transform3D< T >>> line2, double tau)
	Constructs parabolic blend between line1 and line2 with tau as blend time. More...
	ParabolicBlend (const rw::trajectory::LinearInterpolator< rw::math::Transform3D< T >> *line1, const rw::trajectory::LinearInterpolator< rw::math::Transform3D< T >> *line2, double tau)
	Constructs parabolic blend between line1 and line2 with tau as blend time. More...
	ParabolicBlend (LinearInterpolator< rw::math::Transform3D< T >> line1, LinearInterpolator< rw::math::Transform3D< T >> line2, double tau)
	Constructs parabolic blend between line1 and line2 with tau as blend time. More...
virtual	~ParabolicBlend ()
	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	duration () const
	get the duration of the blend More...
rw::math::Transform3D< T >	deviation () const
	get the deviation from the intersection point More...
double	tau1 () const
double	tau2 () const
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::ParabolicBlend< rw::math::Transform3D< T > >

Template specialization of ParabolicBlend 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

ParabolicBlend() [1/4]

ParabolicBlend ( rw::core::Ptr< rw::trajectory::LinearInterpolator< rw::math::Transform3D< T >>>  line1, rw::core::Ptr< rw::trajectory::LinearInterpolator< rw::math::Transform3D< T >>>  line2, double  tau  )

inline

Constructs parabolic blend between line1 and line2 with tau as blend time.

Parameters

line1	[in] First segment
line2	[in] Second segment
tau	[in] Blend time

ParabolicBlend() [2/4]

ParabolicBlend ( rw::core::Ptr< const rw::trajectory::LinearInterpolator< rw::math::Transform3D< T >>>  line1, rw::core::Ptr< const rw::trajectory::LinearInterpolator< rw::math::Transform3D< T >>>  line2, double  tau  )

inline

Constructs parabolic blend between line1 and line2 with tau as blend time.

Parameters

line1	[in] First segment
line2	[in] Second segment
tau	[in] Blend time

ParabolicBlend() [3/4]

ParabolicBlend ( const rw::trajectory::LinearInterpolator< rw::math::Transform3D< T >> *  line1, const rw::trajectory::LinearInterpolator< rw::math::Transform3D< T >> *  line2, double  tau  )

inline

Constructs parabolic blend between line1 and line2 with tau as blend time.

Parameters

line1	[in] First segment
line2	[in] Second segment
tau	[in] Blend time

ParabolicBlend() [4/4]

ParabolicBlend ( LinearInterpolator< rw::math::Transform3D< T >>  line1, LinearInterpolator< rw::math::Transform3D< T >>  line2, double  tau  )

inline

Constructs parabolic blend between line1 and line2 with tau as blend time.

Parameters

line1	[in] First segment
line2	[in] Second segment
tau	[in] Blend time

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 > >.

deviation()

rw::math::Transform3D<T> deviation ( ) const

inline

get the deviation from the intersection point

Returns

the deviation

duration()

double duration ( ) const

inline

get the duration of the blend

Returns

duration

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 tau1()==tau2()

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

tau2()

double tau2 ( ) const

inlinevirtual

Note

For ParabolicBlend tau1()==tau2()

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 > >.

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

• ParabolicBlend.hpp