RobWorkProject  24.5.15-
Public Types | Public Member Functions | List of all members
SQUADInterpolator< T > Class Template Reference

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

Public Types

typedef rw::core::Ptr< SQUADInterpolator< rw::math::Quaternion< T > > > Ptr
 smart pointer type to this class
 
- Public Types inherited from Interpolator< rw::math::Quaternion< T > >
typedef rw::core::Ptr< InterpolatorPtr
 smart pointer type to this class
 

Public Member Functions

 SQUADInterpolator (rw::math::Quaternion< T > q0, rw::math::Quaternion< T > q1, rw::math::Quaternion< T > s0, rw::math::Quaternion< T > s1, double duration)
 
rw::math::Quaternion< T > x (double t) const
 Position at time t. More...
 
rw::math::Quaternion< T > dx (double t) const
 Velocity at time t. More...
 
rw::math::Quaternion< T > ddx (double t) const
 Acceleration at time t. More...
 
double duration () const
 Returns the duration of the interpolator. More...
 
- Public Member Functions inherited from Interpolator< rw::math::Quaternion< T > >
virtual ~Interpolator ()
 Virtual destructor.
 

Member Function Documentation

◆ ddx()

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

Acceleration at time t.

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

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

◆ dx()

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

Velocity at time t.

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

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

◆ x()

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

Position at time t.

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

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


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