joint_spline_trajectory_controller.cpp File Reference

#include "robot_mechanism_controllers/joint_spline_trajectory_controller.h"
#include <sstream>
#include "angles/angles.h"
#include "pluginlib/class_list_macros.h"

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Namespaces
namespace	controller
Functions
static void	controller::generatePowers (int n, double x, double *powers)
static void	controller::getCubicSplineCoefficients (double start_pos, double start_vel, double end_pos, double end_vel, double time, std::vector< double > &coefficients)
static void	controller::getQuinticSplineCoefficients (double start_pos, double start_vel, double start_acc, double end_pos, double end_vel, double end_acc, double time, std::vector< double > &coefficients)
static void	controller::sampleQuinticSpline (const std::vector< double > &coefficients, double time, double &position, double &velocity, double &acceleration)
	Samples a quintic spline segment at a particular time.