RobWorkProject  24.5.15-
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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< InterpolatorPtr
 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
linVelLimitdocumentation missing !
linAccLimitdocumentation missing !
angVelLimitdocumentation missing !
angAccLimitdocumentation 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 > >.


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