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

Inherits Blend< T >.

Public Member Functions

 SplineBlend (const rw::trajectory::Interpolator< T > &interp1, const rw::trajectory::Interpolator< T > &interp2, double tau1, double tau2)
 
virtual T x (double t) const
 The position for a given time t. More...
 
virtual T dx (double t) const
 The velocity for a given time t. More...
 
virtual T ddx (double t) const
 The acceleration for a given time t. More...
 
maxDdx () const
 
virtual double tau1 () const
 The time \(\tau_1\) as defined in class definition. More...
 
virtual double tau2 () const
 The time \(\tau_2\) as defined in class definition. More...
 
 SplineBlend (const rw::trajectory::Interpolator< double > &interp1, const rw::trajectory::Interpolator< double > &interp2, double tau1, double tau2)
 
double x (double t) const
 The position for a given time t. More...
 
double dx (double t) const
 The velocity for a given time t. More...
 
double ddx (double t) const
 The acceleration for a given time t. More...
 
double maxDdx () const
 
- Public Member Functions inherited from Blend< T >
virtual ~Blend ()
 Destructor.
 

Additional Inherited Members

- Public Types inherited from Blend< T >
typedef rw::core::Ptr< BlendPtr
 smart pointer type to this class
 

Member Function Documentation

◆ ddx() [1/2]

virtual T ddx ( double  t) const
inlinevirtual

The acceleration for a given time t.

Parameters
t[in] \( t\in[0,\tau_1+\tau_2] \)
Returns
Acceleration at time t

Implements Blend< T >.

◆ ddx() [2/2]

double ddx ( double  t) const
virtual

The acceleration for a given time t.

Parameters
t[in] \( t\in[0,\tau_1+\tau_2] \)
Returns
Acceleration at time t

Implements Blend< T >.

◆ dx() [1/2]

virtual T dx ( double  t) const
inlinevirtual

The velocity for a given time t.

Parameters
t[in] \( t\in[0,\tau_1+\tau_2] \)
Returns
Velocity at time t

Implements Blend< T >.

◆ dx() [2/2]

double dx ( double  t) const
virtual

The velocity for a given time t.

Parameters
t[in] \( t\in[0,\tau_1+\tau_2] \)
Returns
Velocity at time t

Implements Blend< T >.

◆ tau1()

virtual double tau1 ( ) const
inlinevirtual

The time \(\tau_1\) as defined in class definition.

Returns
\(\tau_1\)

Implements Blend< T >.

◆ tau2()

virtual double tau2 ( ) const
inlinevirtual

The time \(\tau_2\) as defined in class definition.

Returns
\(\tau_2\)

Implements Blend< T >.

◆ x() [1/2]

virtual T x ( double  t) const
inlinevirtual

The position for a given time t.

Parameters
t[in] \( t\in[0,\tau_1+\tau_2] \)
Returns
Position at time t

Implements Blend< T >.

◆ x() [2/2]

double x ( double  t) const
virtual

The position for a given time t.

Parameters
t[in] \( t\in[0,\tau_1+\tau_2] \)
Returns
Position at time t

Implements Blend< T >.


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