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

Implements RampInterpolator for rw::math::Transform3D<T> More...

#include <RampInterpolator.hpp>

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

Public Types
typedef rw::core::Ptr< RampInterpolator< rw::math::Transform3D< T > > >	Ptr
	smart pointer type to this class
typedef rw::core::Ptr< const RampInterpolator< rw::math::Transform3D< T > > >	CPtr
	smart pointer type const instance of class
Public Types inherited from Interpolator< rw::math::Transform3D< T > >
typedef rw::core::Ptr< Interpolator >	Ptr
	smart pointer type to this class

Public Member Functions
	RampInterpolator (const rw::math::Transform3D< T > &start, const rw::math::Transform3D< T > &end, const rw::math::Transform3D< T > &vellimits, const rw::math::Transform3D< T > &acclimits, double duration=-1)
	dummy constructor don't use
	RampInterpolator (const rw::math::Transform3D< T > &start, const rw::math::Transform3D< T > &end, double linVelLimit, double linAccLimit, double angVelLimit, double angAccLimit)
	Construct RampInterpolator starting a start and finishing in end and taking duration time. More...
rw::math::Transform3D< T >	x (double t) const
	Position at time t. More...
rw::math::Transform3D< T >	dx (double t) const
	Velocity at time t. More...
rw::math::Transform3D< T >	ddx (double t) const
	Acceleration at time t. More...
rw::math::Transform3D< T >	getStart () const
	Returns the start position of the interpolator. More...
rw::math::Transform3D< T >	getEnd () const
	Returns the end position of the interpolator. More...
double	duration () const
	Returns the duration of the interpolator. More...
const RampInterpolator< rw::math::Vector3D< T > > &	getPositionInterpolator () const
	Returns RampInterpolator for the position part of the transform. More...
const RampInterpolator< rw::math::Rotation3D< T > > &	getRotationInterpolator () const
	Returns RampInterpolator for the rotation part of the transform. More...
Public Member Functions inherited from Interpolator< rw::math::Transform3D< T > >
virtual	~Interpolator ()
	Virtual destructor.

Detailed Description

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

Implements RampInterpolator for rw::math::Transform3D<T>

The interpolation of rotation is made using Quaternions.

Constructor & Destructor Documentation

RampInterpolator()

RampInterpolator ( const rw::math::Transform3D< T > &  start, const rw::math::Transform3D< T > &  end, double  linVelLimit, double  linAccLimit, double  angVelLimit, double  angAccLimit  )

inline

Construct RampInterpolator starting a start and finishing in end and taking duration time.

If duration <= 0 an exception is thrown

Parameters

start	[in] Start of interpolator
end	[in] End of interpolator
linVelLimit	documentation missing !
linAccLimit	documentation missing !
angVelLimit	documentation missing !
angAccLimit	documentation missing !

Member Function Documentation

ddx()

rw::math::Transform3D<T> ddx ( double  t ) const

inlinevirtual

Acceleration at time t.

Parameters

t	[in] time between 0 and length

Returns

Acceleration

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

dx()

rw::math::Transform3D<T> dx ( double  t ) const

inlinevirtual

Velocity at time t.

Parameters

t	[in] time between 0 and length

Returns

Velocity

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

getEnd()

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

inline

Returns the end position of the interpolator.

Returns

The end position of the interpolator

getPositionInterpolator()

const RampInterpolator<rw::math::Vector3D<T> >& getPositionInterpolator ( ) const

inline

Returns RampInterpolator for the position part of the transform.

Note

This method is needed by ParabolicBlend

getRotationInterpolator()

const RampInterpolator<rw::math::Rotation3D<T> >& getRotationInterpolator ( ) const

inline

Returns RampInterpolator for the rotation part of the transform.

Note

This method is needed by ParabolicBlend

getStart()

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

inline

Returns the start position of the interpolator.

Returns

The start position of the interpolator

x()

rw::math::Transform3D<T> x ( double  t ) const

inlinevirtual

Position at time t.

Parameters

t	[in] time between 0 and length

Returns

Position

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

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

• RampInterpolator.hpp