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RampInterpolator< T > Class Template Reference

Make a ramp interpolation between two position. More...

#include <RampInterpolator.hpp>

Inherits Interpolator< T >.

Public Types

typedef rw::common::Ptr< RampInterpolatorPtr
 smart pointer type to instance of class
 
typedef rw::common::Ptr< const RampInterpolatorCPtr
 smart pointer type const instance of class
 
- Public Types inherited from Interpolator< T >
typedef rw::common::Ptr< InterpolatorPtr
 smart pointer type to this class
 

Public Member Functions

 RampInterpolator (const T &start, const T &end, const T &vellimits, const T &acclimits)
 Construct RampInterpolator starting at start and finishing in end with velocity limits vellimimts and acceleration limits acclimits. The duration will be calculated automatically. The start and end velocity and acceleration is zero. More...
 
 RampInterpolator (const T &start, const T &end, const T &vellimits, const T &acclimits, double duration)
 Construct RampInterpolator starting at start and finishing in end with velocity limits vellimimts and acceleration limits acclimits. The duration will be calculated automatically. The start and end velocity and acceleration is zero. More...
 
void init ()
 
x (double t) const
 Position at time t. More...
 
dx (double t) const
 Velocity at time t. More...
 
ddx (double t) const
 Acceleration at time t. More...
 
getStart () const
 Returns the start position of the interpolator. More...
 
getEnd () const
 Returns the end position of the interpolator. More...
 
double duration () const
 Returns the duration of the interpolator. More...
 
- Public Member Functions inherited from Interpolator< T >
virtual ~Interpolator ()
 Virtual destructor.
 

Detailed Description

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

Make a ramp interpolation between two position.

The template argument given needs to support addition with the "+" operator and scaling with a double using the "*" operator.

For use with a rw::math::Transform3D see the template specialization

Constructor & Destructor Documentation

◆ RampInterpolator() [1/2]

RampInterpolator ( const T &  start,
const T &  end,
const T &  vellimits,
const T &  acclimits 
)
inline

Construct RampInterpolator starting at start and finishing in end with velocity limits vellimimts and acceleration limits acclimits. The duration will be calculated automatically. The start and end velocity and acceleration is zero.

Parameters
start[in] Start of interpolator
end[in] End of interpolator
vellimits[in] velocity limits
acclimits[in] acceleration limits

◆ RampInterpolator() [2/2]

RampInterpolator ( const T &  start,
const T &  end,
const T &  vellimits,
const T &  acclimits,
double  duration 
)
inline

Construct RampInterpolator starting at start and finishing in end with velocity limits vellimimts and acceleration limits acclimits. The duration will be calculated automatically. The start and end velocity and acceleration is zero.

If duration is not achievable given the velocity and acceleration limits then the duration will be extended.

Parameters
start[in] Start of interpolator
end[in] End of interpolator
vellimits[in] velocity limits
acclimits[in] acceleration limits
duration[in] Time it takes to from one end to the other.

Member Function Documentation

◆ ddx()

T ddx ( double  t) const
inlinevirtual

Acceleration at time t.

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

Implements Interpolator< 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< T >.

◆ dx()

T dx ( double  t) const
inlinevirtual

Velocity at time t.

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

Implements Interpolator< T >.

◆ getEnd()

T getEnd ( ) const
inline

Returns the end position of the interpolator.

Returns
The end position of the interpolator

◆ getStart()

T getStart ( ) const
inline

Returns the start position of the interpolator.

Returns
The start position of the interpolator

◆ x()

T x ( double  t) const
inlinevirtual

Position at time t.

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

Implements Interpolator< T >.


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