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Blend< T > Class Template Referenceabstract

Interface for blending. More...

#include <Blend.hpp>

Inherited by ParabolicBlend< rw::math::Vector3D< T > >, LloydHaywardBlend< T >, and ParabolicBlend< T >.

Public Types

typedef rw::common::Ptr< BlendPtr
 smart pointer type to this class
 

Public Member Functions

virtual ~Blend ()
 Destructor.
 
virtual T x (double t) const =0
 The position for a given time t. More...
 
virtual T dx (double t) const =0
 The velocity for a given time t. More...
 
virtual T ddx (double t) const =0
 The acceleration for a given time t. More...
 
virtual double tau1 () const =0
 The time $\tau_1$ as defined in class definition. More...
 
virtual double tau2 () const =0
 The time $\tau_2$ as defined in class definition. More...
 

Detailed Description

template<class T>
class rw::trajectory::Blend< T >

Interface for blending.

A Blend describes a way to blend between to consecutive interpolators. If we let $t_1$ be the time switching from one interpolator to the next, then the blend control the path in the interval $[t_1-\tau_1;t_1+\tau_2]$.

See the specific implementations for at description of which template arguments that are valid.

Member Function Documentation

◆ ddx()

virtual T ddx ( double  t) const
pure virtual

◆ dx()

virtual T dx ( double  t) const
pure virtual

◆ tau1()

virtual double tau1 ( ) const
pure virtual

◆ tau2()

virtual double tau2 ( ) const
pure virtual

◆ x()

virtual T x ( double  t) const
pure virtual

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