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< Interpolator >	Ptr
	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:

• RampInterpolator.hpp