RobWorkProject  24.5.15-
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

◆ 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:
• SplineBlend.hpp