Natural cubic splines class. More...
#include <trajectory.h>
Public Member Functions | |
short | first_derivative (const Real t, ColumnVector &ds) |
Spline first derivative at time t. More... | |
short | interpolating (const Real t, ColumnVector &s) |
Interpolating the spline at time t. Extrapolating is not allowed. More... | |
short | second_derivative (const Real t, ColumnVector &dds) |
Spline second derivative at time t. More... | |
Spl_cubic () | |
Spl_cubic (const Matrix &pts) | |
Constructor. More... | |
Private Attributes | |
Matrix | Ak |
bool | bad_data |
Status flag. More... | |
Matrix | Bk |
Matrix | Ck |
Matrix | Dk |
int | nb_path |
Number of path, i.e: path in x,y,z nb_path=3. More... | |
RowVector | tk |
Time at control points. More... | |
Natural cubic splines class.
Definition at line 91 of file trajectory.h.
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inline |
Definition at line 94 of file trajectory.h.
Spl_cubic::Spl_cubic | ( | const Matrix & | pts | ) |
Constructor.
pts | Matrix containing the spline data. |
The first line of the Matrix contain the sampling time Second line contain data (sk) to create spline i. Third " " i+1. on Nth line i+N.
The spline has the following form:
Definition at line 58 of file trajectory.cpp.
short Spl_cubic::first_derivative | ( | const Real | t, |
ColumnVector & | ds | ||
) |
Spline first derivative at time t.
Definition at line 182 of file trajectory.cpp.
short Spl_cubic::interpolating | ( | const Real | t, |
ColumnVector & | s | ||
) |
Interpolating the spline at time t. Extrapolating is not allowed.
Definition at line 158 of file trajectory.cpp.
short Spl_cubic::second_derivative | ( | const Real | t, |
ColumnVector & | dds | ||
) |
Spline second derivative at time t.
Definition at line 205 of file trajectory.cpp.
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private |
Definition at line 102 of file trajectory.h.
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private |
Status flag.
Definition at line 104 of file trajectory.h.
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private |
Definition at line 102 of file trajectory.h.
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private |
Definition at line 102 of file trajectory.h.
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private |
Definition at line 102 of file trajectory.h.
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private |
Number of path, i.e: path in x,y,z nb_path=3.
Definition at line 100 of file trajectory.h.
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private |
Time at control points.
Definition at line 103 of file trajectory.h.