RampInterpolator< double > Class Reference

Inherits Interpolator< double >.

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

Public Member Functions
	RampInterpolator (double start, double end, double velLimit, double accLimit)
	Construct RampInterpolator starting a start and finishing in end. More...
double	x (double t) const
	Position at time t. More...
double	dx (double t) const
	Velocity at time t. More...
double	ddx (double t) const
	Acceleration at time t. More...
double	getStart () const
	Returns the start rotation of the interpolator. More...
double	getEnd () const
	Returns the end rotation of the interpolator. More...
double	duration () const
	Returns the duration of the interpolator. More...
Public Member Functions inherited from Interpolator< double >
virtual	~Interpolator ()
	Virtual destructor.

Constructor & Destructor Documentation

RampInterpolator()

RampInterpolator ( double  start, double  end, double  velLimit, double  accLimit  )

inline

Construct RampInterpolator starting a start and finishing in end.

Parameters

start	[in] Start of interpolator
end	[in] End of interpolator
velLimit	[in] the max velocity in m/sec
accLimit	[in] the max acceleration in m/sec^2

Member Function Documentation

ddx()

double ddx ( double  t ) const

inlinevirtual

Acceleration at time t.

Parameters

t	[in] time between 0 and length

Returns

Acceleration

Implements Interpolator< double >.

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< double >.

dx()

double dx ( double  t ) const

inlinevirtual

Velocity at time t.

Parameters

t	[in] time between 0 and length

Returns

Velocity

Implements Interpolator< double >.

getEnd()

double getEnd ( ) const

inline

Returns the end rotation of the interpolator.

Returns

The end rotation of the interpolator

getStart()

double getStart ( ) const

inline

Returns the start rotation of the interpolator.

Returns

The start rotation of the interpolator

x()

double x ( double  t ) const

inlinevirtual

Position at time t.

Parameters

t	[in] time between 0 and length

Returns

Position

Implements Interpolator< double >.

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

• RampInterpolator.hpp