Spl_path Class Reference

Cartesian or joint space trajectory. More...

#include <trajectory.h>

Inheritance diagram for Spl_path:

[legend]

List of all members.

Public Member Functions
double	get_final_time ()
short	get_type ()
short	p (const Real time, ColumnVector &p)
	Position vector at time t.
short	p_pdot (const Real time, ColumnVector &p, ColumnVector &pdot)
	Position and velocity vector at time t.
short	p_pdot_pddot (const Real time, ColumnVector &p, ColumnVector &pdot, ColumnVector &pdotdot)
	Position, velocity and acceleration vector at time t.
	Spl_path (const Matrix &x)
	Constructor.
	Spl_path (const std::string &filename)
	Spl_path ()
Private Attributes
double	final_time
	Spline final time.
short	type
	Cartesian space or joint space.

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Detailed Description

Cartesian or joint space trajectory.

Definition at line 120 of file trajectory.h.

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Constructor & Destructor Documentation

Spl_path::Spl_path

(

)

[inline]

Definition at line 123 of file trajectory.h.

Spl_path::Spl_path

(

const std::string &

filename

)

Spl_path::Spl_path

(

const Matrix &

x

)

Constructor.

Definition at line 353 of file trajectory.cpp.

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Member Function Documentation

double Spl_path::get_final_time

(

)

[inline]

Definition at line 131 of file trajectory.h.

short Spl_path::get_type

(

)

[inline]

Definition at line 130 of file trajectory.h.

short Spl_path::p	(	const Real	time,
		ColumnVector &	p
	)

Position vector at time t.

Definition at line 357 of file trajectory.cpp.

short Spl_path::p_pdot	(	const Real	time,
		ColumnVector &	p,
		ColumnVector &	pdot
	)

Position and velocity vector at time t.

Definition at line 369 of file trajectory.cpp.

short Spl_path::p_pdot_pddot	(	const Real	time,
		ColumnVector &	p,
		ColumnVector &	pdot,
		ColumnVector &	pdotdot
	)

Position, velocity and acceleration vector at time t.

Definition at line 386 of file trajectory.cpp.

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Member Data Documentation

double Spl_path::final_time [private]

Spline final time.

Definition at line 135 of file trajectory.h.

short Spl_path::type [private]

Cartesian space or joint space.

Definition at line 134 of file trajectory.h.

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

• trajectory.h
• trajectory.cpp