Sine reference trajectory.
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#include <reference_trajectory.h>
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int | getDimension () const override |
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ReferenceTrajectoryInterface::Ptr | getInstance () const override |
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const OutputVector & | getNextSteadyState (const Time &t) override |
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void | getReference (const Time &t, OutputVector &ref) const override |
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const OutputVector & | getReferenceCached (int k) const override |
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bool | isCached (double dt, int n, Time t) const override |
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bool | isCached (const std::vector< double > &dt, Time t) const override |
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bool | isStatic () const override |
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bool | isZero () const override |
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void | precompute (double dt, int n, Time t) override |
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void | precompute (const std::vector< double > &dt, Time t) override |
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void | setParameters (const double &litude, const double &omega, const double offset) |
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| SineReferenceTrajectory () |
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| SineReferenceTrajectory (const double &litude, const double &omega, const double offset) |
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virtual | ~ReferenceTrajectoryInterface ()=default |
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Sine reference trajectory.
Stores a non-static reference trajectory containg a sinusoide function of the form f= amplitude * sin(ometa * t + offset)
- Author
- Rodrigo Velasco (rodri.nosp@m.go.v.nosp@m.elasc.nosp@m.o@tu.nosp@m.-dort.nosp@m.mund.nosp@m..de)
Definition at line 194 of file reference_trajectory.h.
◆ Ptr
◆ SineReferenceTrajectory() [1/2]
corbo::SineReferenceTrajectory::SineReferenceTrajectory |
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inline |
◆ SineReferenceTrajectory() [2/2]
corbo::SineReferenceTrajectory::SineReferenceTrajectory |
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const double & |
amplitude, |
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const double & |
omega, |
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const double |
offset |
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inlineexplicit |
◆ getDimension()
int corbo::SineReferenceTrajectory::getDimension |
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const |
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inlineoverridevirtual |
◆ getInstance()
◆ getNextSteadyState()
const OutputVector& corbo::SineReferenceTrajectory::getNextSteadyState |
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const Time & |
t | ) |
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inlineoverridevirtual |
◆ getReference()
void corbo::SineReferenceTrajectory::getReference |
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const Time & |
t, |
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OutputVector & |
ref |
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inlineoverridevirtual |
◆ getReferenceCached()
const OutputVector& corbo::SineReferenceTrajectory::getReferenceCached |
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int |
k | ) |
const |
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inlineoverridevirtual |
◆ isCached() [1/2]
bool corbo::SineReferenceTrajectory::isCached |
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double |
dt, |
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int |
n, |
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Time |
t |
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inlineoverridevirtual |
◆ isCached() [2/2]
bool corbo::SineReferenceTrajectory::isCached |
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const std::vector< double > & |
dt, |
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Time |
t |
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inlineoverridevirtual |
◆ isStatic()
bool corbo::SineReferenceTrajectory::isStatic |
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const |
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inlineoverridevirtual |
◆ isZero()
bool corbo::SineReferenceTrajectory::isZero |
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const |
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inlineoverridevirtual |
◆ precompute() [1/2]
void corbo::SineReferenceTrajectory::precompute |
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double |
dt, |
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int |
n, |
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Time |
t |
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inlineoverridevirtual |
◆ precompute() [2/2]
void corbo::SineReferenceTrajectory::precompute |
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const std::vector< double > & |
dt, |
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Time |
t |
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inlineoverridevirtual |
◆ setParameters()
void corbo::SineReferenceTrajectory::setParameters |
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const double & |
amplitude, |
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const double & |
omega, |
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const double |
offset |
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inline |
◆ _amplitude
double corbo::SineReferenceTrajectory::_amplitude = 1 |
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private |
◆ _cached_dt
std::vector<double> corbo::SineReferenceTrajectory::_cached_dt |
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private |
◆ _cached_t
Time corbo::SineReferenceTrajectory::_cached_t |
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◆ _cached_trajectory
std::vector<OutputVector> corbo::SineReferenceTrajectory::_cached_trajectory |
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private |
◆ _offset
double corbo::SineReferenceTrajectory::_offset = 0 |
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private |
◆ _omega
double corbo::SineReferenceTrajectory::_omega = 1 |
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private |
◆ _zero_vector
OutputVector corbo::SineReferenceTrajectory::_zero_vector = Eigen::VectorXd::Zero(1) |
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private |
The documentation for this class was generated from the following file: