towr::Spline Class Reference

A spline built from a sequence of cubic polynomials. More...

#include <spline.h>

Inheritance diagram for towr::Spline:

Public Types
using	VecPoly = std::vector< CubicHermitePolynomial >
using	VecTimes = std::vector< double >

Public Member Functions
const State	GetPoint (double t) const
const State	GetPoint (int poly_id, double t_local) const
VecTimes	GetPolyDurations () const
int	GetPolynomialCount () const
double	GetTotalTime () const
	Spline (const VecTimes &poly_durations, int n_dim)
virtual	~Spline ()=default

Static Public Member Functions
static int	GetSegmentID (double t_global, const VecTimes &durations)

Protected Member Functions
std::pair< int, double >	GetLocalTime (double t_global, const VecTimes &d) const
	How much time of the current segment has passed at t_global. More...
void	UpdatePolynomialCoeff ()
	Updates the cubic-Hermite polynomial coefficients using the currently set nodes values and durations. More...

Protected Attributes
VecPoly	cubic_polys_
	the sequence of polynomials making up the spline. More...

Detailed Description

A spline built from a sequence of cubic polynomials.

This class is responsible for stitching together multiple individual polynomials into one spline.

Definition at line 45 of file spline.h.

Member Typedef Documentation

using towr::Spline::VecPoly = std::vector<CubicHermitePolynomial>

Definition at line 48 of file spline.h.

using towr::Spline::VecTimes = std::vector<double>

Definition at line 47 of file spline.h.

Constructor & Destructor Documentation

towr::Spline::Spline	(	const VecTimes &	poly_durations,
		int	n_dim
	)

Definition at line 36 of file spline.cc.

virtual towr::Spline::~Spline ( )

virtualdefault

Member Function Documentation

std::pair< int, double > towr::Spline::GetLocalTime ( double  t_global, const VecTimes &  d  ) const

protected

How much time of the current segment has passed at t_global.

Parameters

t_global	The global time [s] along the spline.
d	The durations of each segment.

Returns

The segment id and the time passed in this segment.

Definition at line 69 of file spline.cc.

const State towr::Spline::GetPoint

(

double

t

)

const

Returns

The state of the spline at time t.

Parameters

t	The time at which the state of the spline is desired.

Definition at line 81 of file spline.cc.

const State towr::Spline::GetPoint	(	int	poly_id,
		double	t_local
	)		const

Parameters

poly_id	Polynomial id, 0 is first polynomial.
t_local	Time along the current polynomial.

Returns

The position, velocity and acceleration of spline.

Definition at line 90 of file spline.cc.

Spline::VecTimes towr::Spline::GetPolyDurations

(

)

const

Returns

the durations of each polynomial.

Definition at line 109 of file spline.cc.

int towr::Spline::GetPolynomialCount

(

)

const

Returns

the number of polynomials making up this spline.

Definition at line 103 of file spline.cc.

int towr::Spline::GetSegmentID ( double  t_global, const VecTimes &  durations  )

static

Returns

The segment (e.g. phase, polynomial) at time t_global.

Parameters

t_global	The global time in the spline.
durations	The durations [s] of each segment.

Definition at line 49 of file spline.cc.

double towr::Spline::GetTotalTime

(

)

const

Returns

The total time of the spline.

Definition at line 119 of file spline.cc.

void towr::Spline::UpdatePolynomialCoeff ( )

protected

Updates the cubic-Hermite polynomial coefficients using the currently set nodes values and durations.

Definition at line 96 of file spline.cc.

Member Data Documentation

VecPoly towr::Spline::cubic_polys_

protected

the sequence of polynomials making up the spline.

Definition at line 89 of file spline.h.

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

• spline.h
• spline.cc