exotica::Trajectory Class Reference

#include <trajectory.h>

Public Member Functions
KDL::Twist	GetAcceleration (double t)
Eigen::MatrixXd	GetData ()
double	GetDuration ()
KDL::Frame	GetPosition (double t)
double	GetRadius ()
KDL::Twist	GetVelocity (double t)
std::string	ToString ()
	Trajectory ()
	Trajectory (const std::string &data)
	Trajectory (Eigen::MatrixXdRefConst data, double radius=1.0)
	~Trajectory ()

Protected Member Functions
void	ConstructFromData (Eigen::MatrixXdRefConst data, double radius)

Protected Attributes
Eigen::MatrixXd	data_
double	radius_
std::shared_ptr< KDL::Trajectory_Composite >	trajectory_

Detailed Description

Definition at line 40 of file trajectory.h.

Constructor & Destructor Documentation

exotica::Trajectory::Trajectory

(

)

Definition at line 47 of file trajectory.cpp.

exotica::Trajectory::Trajectory

(

const std::string &

data

)

Definition at line 51 of file trajectory.cpp.

exotica::Trajectory::Trajectory	(	Eigen::MatrixXdRefConst	data,
		double	radius = 1.0
	)

Definition at line 72 of file trajectory.cpp.

exotica::Trajectory::~Trajectory ( )

inline

Definition at line 46 of file trajectory.h.

Member Function Documentation

void exotica::Trajectory::ConstructFromData ( Eigen::MatrixXdRefConst  data, double  radius  )

protected

Definition at line 116 of file trajectory.cpp.

KDL::Twist exotica::Trajectory::GetAcceleration

(

double

t

)

Definition at line 87 of file trajectory.cpp.

Eigen::MatrixXd exotica::Trajectory::GetData

(

)

Definition at line 97 of file trajectory.cpp.

double exotica::Trajectory::GetDuration

(

)

Definition at line 92 of file trajectory.cpp.

KDL::Frame exotica::Trajectory::GetPosition

(

double

t

)

Definition at line 77 of file trajectory.cpp.

double exotica::Trajectory::GetRadius

(

)

Definition at line 102 of file trajectory.cpp.

KDL::Twist exotica::Trajectory::GetVelocity

(

double

t

)

Definition at line 82 of file trajectory.cpp.

std::string exotica::Trajectory::ToString

(

)

Definition at line 107 of file trajectory.cpp.

Member Data Documentation

Eigen::MatrixXd exotica::Trajectory::data_

protected

Definition at line 58 of file trajectory.h.

double exotica::Trajectory::radius_

protected

Definition at line 57 of file trajectory.h.

std::shared_ptr<KDL::Trajectory_Composite> exotica::Trajectory::trajectory_

protected

Definition at line 59 of file trajectory.h.

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

• trajectory.h
• trajectory.cpp