Make a ramp interpolation between two position.
More...
#include <RampInterpolator.hpp>
Inherits Interpolator< T >.

 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 () 

T  x (double t) const 
 Position at time t. More...


T  dx (double t) const 
 Velocity at time t. More...


T  ddx (double t) const 
 Acceleration at time t. More...


T  getStart () const 
 Returns the start position of the interpolator. More...


T  getEnd () const 
 Returns the end position of the interpolator. More...


double  duration () const 
 Returns the duration of the interpolator. More...


virtual  ~Interpolator () 
 Virtual destructor.


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
◆ 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. 
◆ ddx()
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()
Velocity at time t.
 Parameters

t  [in] time between 0 and length 
 Returns
 Velocity
Implements Interpolator< T >.
◆ getEnd()
Returns the end position of the interpolator.
 Returns
 The end position of the interpolator
◆ getStart()
Returns the start position of the interpolator.
 Returns
 The start position of the interpolator
◆ x()
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: