RobWorkProject  24.5.15-
Public Types | Public Member Functions | List of all members
RampInterpolator< rw::math::Rotation3D< T > > Class Template Reference

Implements RampInterpolator for rw::math::Rotation3D<T> More...

#include <RampInterpolator.hpp>

Inherits Interpolator< rw::math::Rotation3D< T > >.

Public Types

typedef rw::core::Ptr< RampInterpolator< rw::math::Rotation3D< T > > > Ptr
 smart pointer type to this class
 
typedef rw::core::Ptr< const RampInterpolator< rw::math::Rotation3D< T > > > CPtr
 smart pointer type const instance of class
 
- Public Types inherited from Interpolator< rw::math::Rotation3D< T > >
typedef rw::core::Ptr< InterpolatorPtr
 smart pointer type to this class
 

Public Member Functions

 RampInterpolator (const rw::math::Rotation3D< T > &start, const rw::math::Rotation3D< T > &end, const rw::math::Rotation3D< T > &vellimits, const rw::math::Rotation3D< T > &acclimits, double duration=-1)
 dummy constructor don't use
 
 RampInterpolator (const rw::math::Rotation3D< T > &start, const rw::math::Rotation3D< T > &end, double velLimit, double accLimit)
 Construct RampInterpolator starting a start and finishing in end. More...
 
rw::math::Rotation3D< T > x (double t) const
 Position at time t. More...
 
rw::math::Rotation3D< T > dx (double t) const
 Velocity at time t. More...
 
rw::math::Rotation3D< T > ddx (double t) const
 Acceleration at time t. More...
 
rw::math::Rotation3D< T > getStart () const
 Returns the start rotation of the interpolator. More...
 
rw::math::Rotation3D< T > 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< rw::math::Rotation3D< T > >
virtual ~Interpolator ()
 Virtual destructor.
 

Detailed Description

template<class T>
class rw::trajectory::RampInterpolator< rw::math::Rotation3D< T > >

Implements RampInterpolator for rw::math::Rotation3D<T>

The interpolation of rotation is made using a Quaternion slerp interpolation. See rw::math::Quaternion::slerp for further information.

Constructor & Destructor Documentation

◆ RampInterpolator()

RampInterpolator ( const rw::math::Rotation3D< T > &  start,
const rw::math::Rotation3D< T > &  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 rotational velocity in rad/sec
accLimit[in] the max rotational acceleration in rad/sec^2

Member Function Documentation

◆ ddx()

rw::math::Rotation3D<T> ddx ( double  t) const
inlinevirtual

Acceleration at time t.

Parameters
t[in] time between 0 and length
Returns
Acceleration

Implements Interpolator< rw::math::Rotation3D< 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< rw::math::Rotation3D< T > >.

◆ dx()

rw::math::Rotation3D<T> dx ( double  t) const
inlinevirtual

Velocity at time t.

Parameters
t[in] time between 0 and length
Returns
Velocity

Implements Interpolator< rw::math::Rotation3D< T > >.

◆ getEnd()

rw::math::Rotation3D<T> getEnd ( ) const
inline

Returns the end rotation of the interpolator.

Returns
The end rotation of the interpolator

◆ getStart()

rw::math::Rotation3D<T> getStart ( ) const
inline

Returns the start rotation of the interpolator.

Returns
The start rotation of the interpolator

◆ x()

rw::math::Rotation3D<T> x ( double  t) const
inlinevirtual

Position at time t.

Parameters
t[in] time between 0 and length
Returns
Position

Implements Interpolator< rw::math::Rotation3D< T > >.


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