Functions
static void	generatePowers (int n, double x, double *powers)

void	getCubicSplineCoefficients (double start_pos, double start_vel, double end_pos, double end_vel, double time, std::vector< double > &coefficients)
	Calculates cubic spline coefficients given the start and end way-points. More...

void	sampleCubicSpline (const std::vector< double > &coefficients, double time, double &position, double &velocity, double &acceleration)
	Samples a cubic spline segment at a particular time. More...

Function Documentation

static void spline_smoother::generatePowers	(	int	n,
		double	x,
		double *	powers
	)

inlinestatic

Definition at line 127 of file katana_gripper_joint_trajectory_controller.h.

void spline_smoother::getCubicSplineCoefficients	(	double	start_pos,
		double	start_vel,
		double	end_pos,
		double	end_vel,
		double	time,
		std::vector< double > &	coefficients
	)

inline

Calculates cubic spline coefficients given the start and end way-points.

The input to this function is the start and end way-point, with position, velocity and the duration of the spline segment. (assumes that the spline runs from 0 to time)

Returns 4 coefficients of the quintic polynomial in the "coefficients" vector. The spline can then be sampled as: x = coefficients[0]*t^0 + coefficients[1]*t^1 ... coefficients[3]*t^3

Definition at line 156 of file katana_gripper_joint_trajectory_controller.h.

void spline_smoother::sampleCubicSpline	(	const std::vector< double > &	coefficients,
		double	time,
		double &	position,
		double &	velocity,
		double &	acceleration
	)

inline

Samples a cubic spline segment at a particular time.

Definition at line 170 of file katana_gripper_joint_trajectory_controller.h.

Functions

Function Documentation