Classes
struct	PosVelAccState
	Multi-dof trajectory state containing position, velocity and acceleration data. More...

class	QuinticSplineSegment
	Class representing a multi-dimensional quintic spline segment with a start and end time. More...

Functions
template<class TrajectoryIterator , class Time >
TrajectoryIterator	findSegment (TrajectoryIterator first, TrajectoryIterator last, const Time &time)
	Find an iterator to the segment containing a specified `time`. More...

template<class Trajectory , class Time >
Trajectory::const_iterator	findSegment (const Trajectory &trajectory, const Time &time)
	Find an iterator to the segment containing a specified `time`. More...

template<class Trajectory , class Time >
Trajectory::iterator	findSegment (Trajectory &trajectory, const Time &time)
	Equivalent to findSegment but returning a non-const iterator. More...

template<class Trajectory >
Trajectory::const_iterator	sample (const Trajectory &trajectory, const typename Trajectory::value_type::Time &time, typename Trajectory::value_type::State &state)
	Sample a trajectory at a specified time. More...

Detailed Description

Author: Adolfo Rodriguez Tsouroukdissian; Adolfo Rodriguez Tsouroukdissian, Stuart Glaser, Mrinal Kalakrishnan

Function Documentation

template<class TrajectoryIterator , class Time >

TrajectoryIterator trajectory_interface::findSegment	(	TrajectoryIterator	first,
		TrajectoryIterator	last,
		const Time &	time
	)

inline

Find an iterator to the segment containing a specified time.

Parameters

first	Input iterator to the initial position in the segment sequence.
last	Input iterator to the final position in the segment sequence. The range searched is `[first,last)`.
time	Time to search for in the range.

Returns: Iterator to the trajectory segment containing time. If no segment contains time (ie. it's earlier than the start time of first), then last is returned.

Precondition: The range [first,last) should be sorted by segment start time.

Note: On average, this method has logarithmic time complexity when used on random-access iterators. On non-random-access iterators, iterator advances incur an additional linear time cost.

Definition at line 80 of file trajectory_interface.h.

template<class Trajectory , class Time >

Trajectory::const_iterator trajectory_interface::findSegment	(	const Trajectory &	trajectory,
		const Time &	time
	)

inline

Find an iterator to the segment containing a specified time.

This is a convenience method wrapping the iterator-based findSegment overload.

Template Parameters

Trajectory Trajectory type. Should be a sequence container sorted by segment start time.

See also: findSegment(TrajectoryIterator first, TrajectoryIterator last, const Time& time)

Definition at line 99 of file trajectory_interface.h.

template<class Trajectory , class Time >

Trajectory::iterator trajectory_interface::findSegment	(	Trajectory &	trajectory,
		const Time &	time
	)

inline

Equivalent to findSegment but returning a non-const iterator.

Note: Although is passed by non-const reference, it is not modified by this function. It's a workaround to allow overloads of this function to coexist (they need different signatures to prevent ambiguities).

Definition at line 112 of file trajectory_interface.h.

template<class Trajectory >

Trajectory::const_iterator trajectory_interface::sample	(	const Trajectory &	trajectory,
		const typename Trajectory::value_type::Time &	time,
		typename Trajectory::value_type::State &	state
	)

inline

Sample a trajectory at a specified time.

This is a convenience function that combines finding the segment associated to a specified time (see findSegment) and sampling it.

Template Parameters

Trajectory Trajectory type. Should be a sequence container sorted by segment start time.

Parameters

[in]	trajectory	Holds a sequence of segments.
[in]	time	Where the trajectory is to be sampled.
[out]	state	Segment state at `time`.

Returns: Iterator to the trajectory segment containing time. If no segment contains time, then trajectory.end() is returned.

Note: The segment implementation should allow sampling outside the trajectory time interval, implementing a policy such as holding the first/last position. In such a case, it is possible to get a valid sample for all time inputs, even for the cases when this function returns trajectory.end().

Definition at line 138 of file trajectory_interface.h.