Cartesian or joint space trajectory. More...
#include <trajectory.h>
Inheritance diagram for Spl_path:
Public Member Functions | |
| double | get_final_time () |
| short | get_type () |
| short | p (const Real time, ColumnVector &p) |
| Position vector at time t. More... | |
| short | p_pdot (const Real time, ColumnVector &p, ColumnVector &pdot) |
| Position and velocity vector at time t. More... | |
| short | p_pdot_pddot (const Real time, ColumnVector &p, ColumnVector &pdot, ColumnVector &pdotdot) |
| Position, velocity and acceleration vector at time t. More... | |
| Spl_path () | |
| Spl_path (const std::string &filename) | |
| Spl_path (const Matrix &x) | |
| Constructor. More... | |
 Public Member Functions inherited from Spl_cubic | |
| 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 | |
| double | final_time |
| Spline final time. More... | |
| short | type |
| Cartesian space or joint space. More... | |
Detailed Description
Cartesian or joint space trajectory.
Definition at line 120 of file trajectory.h.
Constructor & Destructor Documentation
|
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.
Member Function Documentation
|
inline |
Definition at line 131 of file trajectory.h.
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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.
Member Data Documentation
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private |
Spline final time.
Definition at line 135 of file trajectory.h.
|
private |
Cartesian space or joint space.
Definition at line 134 of file trajectory.h.
The documentation for this class was generated from the following files: