A spline built from a sequence of cubic polynomials. More...
#include <spline.h>
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 cubicHermite 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...  
A spline built from a sequence of cubic polynomials.
This class is responsible for stitching together multiple individual polynomials into one spline.
using towr::Spline::VecPoly = std::vector<CubicHermitePolynomial> 
using towr::Spline::VecTimes = std::vector<double> 
towr::Spline::Spline  (  const VecTimes &  poly_durations, 
int  n_dim  
) 

virtualdefault 

protected 
const State towr::Spline::GetPoint  (  double  t  )  const 
const State towr::Spline::GetPoint  (  int  poly_id, 
double  t_local  
)  const 
poly_id  Polynomial id, 0 is first polynomial. 
t_local  Time along the current polynomial. 
Spline::VecTimes towr::Spline::GetPolyDurations  (  )  const 
int towr::Spline::GetPolynomialCount  (  )  const 

static 
double towr::Spline::GetTotalTime  (  )  const 

protected 

protected 