A spline built from a sequence of cubic polynomials. More...
#include <spline.h>
Public Member Functions | |
const State | GetPoint (double t) const |
const State | GetPoint (int poly_id, double t_local) const |
VecTimes | GetPolyDurations () const |
int | GetPolynomialCount () const |
double | GetTotalTime () const |
Spline (const VecTimes &poly_durations, int n_dim) | |
virtual | ~Spline () |
Static Public Member Functions | |
static int | GetSegmentID (double t_global, const VecTimes &durations) |
Protected Member Functions | |
std::pair< int, double > | GetLocalTime (double t_global, const VecTimes &d) const |
How much time of the current segment has passed at t_global. | |
void | UpdatePolynomialCoeff () |
Updates the cubic-Hermite polynomial coefficients using the currently set nodes values and durations. | |
Protected Attributes | |
VecPoly | cubic_polys_ |
the sequence of polynomials making up the spline. |
A spline built from a sequence of cubic polynomials.
This class is responsible for stitching together multiple individual polynomials into one spline.
towr::Spline::Spline | ( | const VecTimes & | poly_durations, |
int | n_dim | ||
) |
virtual towr::Spline::~Spline | ( | ) | [virtual] |
std::pair< int, double > towr::Spline::GetLocalTime | ( | double | t_global, |
const VecTimes & | d | ||
) | const [protected] |
const State towr::Spline::GetPoint | ( | double | t | ) | const |
const State towr::Spline::GetPoint | ( | int | poly_id, |
double | t_local | ||
) | const |
poly_id | Polynomial id, 0 is first polynomial. |
t_local | Time along the current polynomial. |
Spline::VecTimes towr::Spline::GetPolyDurations | ( | ) | const |
int towr::Spline::GetPolynomialCount | ( | ) | const |
int towr::Spline::GetSegmentID | ( | double | t_global, |
const VecTimes & | durations | ||
) | [static] |
double towr::Spline::GetTotalTime | ( | ) | const |
void towr::Spline::UpdatePolynomialCoeff | ( | ) | [protected] |
VecPoly towr::Spline::cubic_polys_ [protected] |