#include <interpolator.h>

Public Types
enum	interpolation_mode { LINEAR, HOFFARBIB, QUINTICSPLINE, CUBICSPLINE }

Public Member Functions
double	calc_interpolation_time (const double *g)

void	clear ()

double	deltaT () const

int	dimension () const

double *	front ()

void	get (double *x_, bool popp=true)

void	get (double x_, double v_, bool popp=true)

void	get (double x_, double v_, double *a_, bool popp=true)

void	go (const double gx, const double gv, double time, bool immediate=true)

void	go (const double *gx, double time, bool immediate=true)

void	interpolate (double &remain_t_)

	interpolator (int dim_, double dt_, interpolation_mode imode_=HOFFARBIB, double default_avg_vel_=0.5)

bool	isEmpty ()

void	load (string fname, double time_to_start=1.0, double scale=1.0, bool immediate=true, size_t offset1=0, size_t offset2=0)

void	load (const char *fname, double time_to_start=1.0, double scale=1.0, bool immediate=true, size_t offset1=0, size_t offset2=0)

void	pop ()

void	pop_back ()

void	push (const double x_, const double v_, const double *a_, bool immediate=true)

double	remain_time ()

void	set (const double x, const double v=NULL)

void	setGoal (const double gx, const double gv, double time, bool online=true)

void	setGoal (const double *gx, double time, bool online=true)

bool	setInterpolationMode (interpolation_mode i_mode_)

void	setName (const std::string &_name)

void	sync ()

	~interpolator ()

Private Member Functions
void	hoffarbib (double &remain_t_, double a0, double a1, double a2, double a3, double a4, double a5, double &xx, double &vv, double &aa)

void	linear_interpolation (double &remain_t_, double gx, double &xx, double &vv, double &aa)

Private Attributes
double *	a

double *	a0

double *	a1

double *	a2

double *	a3

double *	a4

double *	a5

deque< double * >	ddq

double	default_avg_vel

int	dim

deque< double * >	dq

double	dt

double *	ga

double *	gv

double *	gx

interpolation_mode	imode

int	length

std::string	name

coil::Mutex	pop_mutex_

deque< double * >	q

double	remain_t

double	target_t

double *	v

double *	x

Detailed Description

Definition at line 10 of file interpolator.h.

Member Enumeration Documentation

◆ interpolation_mode

enum interpolator::interpolation_mode

Enumerator
LINEAR
HOFFARBIB
QUINTICSPLINE
CUBICSPLINE

Definition at line 23 of file interpolator.h.

Constructor & Destructor Documentation

◆ interpolator()

interpolator::interpolator	(	int	dim_,
		double	dt_,
		interpolation_mode	imode_ = `HOFFARBIB`,
		double	default_avg_vel_ = `0.5`
	)

Definition at line 9 of file interpolator.cpp.

◆ ~interpolator()

interpolator::~interpolator ( )

Definition at line 35 of file interpolator.cpp.

Member Function Documentation

◆ calc_interpolation_time()

double interpolator::calc_interpolation_time ( const double * g )

Definition at line 99 of file interpolator.cpp.

◆ clear()

void interpolator::clear ( void )

Definition at line 52 of file interpolator.cpp.

◆ deltaT()

double interpolator::deltaT ( ) const

inline

Definition at line 61 of file interpolator.h.

◆ dimension()

int interpolator::dimension ( ) const

inline

Definition at line 62 of file interpolator.h.

◆ front()

double * interpolator::front ( )

Definition at line 337 of file interpolator.cpp.

◆ get() [1/3]

void interpolator::get	(	double *	x_,
		bool	popp = `true`
	)

Definition at line 346 of file interpolator.cpp.

◆ get() [2/3]

void interpolator::get	(	double *	x_,
		double *	v_,
		bool	popp = `true`
	)

Definition at line 351 of file interpolator.cpp.

◆ get() [3/3]

void interpolator::get	(	double *	x_,
		double *	v_,
		double *	a_,
		bool	popp = `true`
	)

Definition at line 356 of file interpolator.cpp.

◆ go() [1/2]

void interpolator::go	(	const double *	gx,
		const double *	gv,
		double	time,
		bool	immediate = `true`
	)

Definition at line 208 of file interpolator.cpp.

◆ go() [2/2]

void interpolator::go	(	const double *	gx,
		double	time,
		bool	immediate = `true`
	)

Definition at line 203 of file interpolator.cpp.

◆ hoffarbib()

void interpolator::hoffarbib	(	double &	remain_t_,
		double	a0,
		double	a1,
		double	a2,
		double	a3,
		double	a4,
		double	a5,
		double &	xx,
		double &	vv,
		double &	aa
	)

private

Definition at line 60 of file interpolator.cpp.

◆ interpolate()

void interpolator::interpolate ( double & remain_t_ )

Definition at line 177 of file interpolator.cpp.

◆ isEmpty()

bool interpolator::isEmpty ( void )

Definition at line 387 of file interpolator.cpp.

◆ linear_interpolation()

void interpolator::linear_interpolation	(	double &	remain_t_,
		double	gx,
		double &	xx,
		double &	vv,
		double &	aa
	)

private

Definition at line 77 of file interpolator.cpp.

◆ load() [1/2]

void interpolator::load	(	string	fname,
		double	time_to_start = `1.0`,
		double	scale = `1.0`,
		bool	immediate = `true`,
		size_t	offset1 = `0`,
		size_t	offset2 = `0`
	)

Definition at line 253 of file interpolator.cpp.

◆ load() [2/2]

void interpolator::load	(	const char *	fname,
		double	time_to_start = `1.0`,
		double	scale = `1.0`,
		bool	immediate = `true`,
		size_t	offset1 = `0`,
		size_t	offset2 = `0`
	)

Definition at line 219 of file interpolator.cpp.

◆ pop()

void interpolator::pop ( )

Definition at line 273 of file interpolator.cpp.

◆ pop_back()

void interpolator::pop_back ( )

Definition at line 290 of file interpolator.cpp.

◆ push()

void interpolator::push	(	const double *	x_,
		const double *	v_,
		const double *	a_,
		bool	immediate = `true`
	)

Definition at line 259 of file interpolator.cpp.

◆ remain_time()

double interpolator::remain_time ( )

Definition at line 392 of file interpolator.cpp.

◆ set()

void interpolator::set	(	const double *	x,
		const double *	v = `NULL`
	)

Definition at line 324 of file interpolator.cpp.

◆ setGoal() [1/2]

void interpolator::setGoal	(	const double *	gx,
		const double *	gv,
		double	time,
		bool	online = `true`
	)

Definition at line 131 of file interpolator.cpp.

◆ setGoal() [2/2]

void interpolator::setGoal	(	const double *	gx,
		double	time,
		bool	online = `true`
	)

Definition at line 125 of file interpolator.cpp.

◆ setInterpolationMode()

bool interpolator::setInterpolationMode ( interpolation_mode i_mode_ )

Definition at line 117 of file interpolator.cpp.

◆ setName()

void interpolator::setName ( const std::string & _name )

inline

Definition at line 63 of file interpolator.h.

◆ sync()

void interpolator::sync ( )

Definition at line 93 of file interpolator.cpp.

Member Data Documentation

◆ a

double * interpolator::a

private

Definition at line 76 of file interpolator.h.

◆ a0

double* interpolator::a0

private

Definition at line 83 of file interpolator.h.

◆ a1

double * interpolator::a1

private

Definition at line 83 of file interpolator.h.

◆ a2

double * interpolator::a2

private

Definition at line 83 of file interpolator.h.

◆ a3

double * interpolator::a3

private

Definition at line 83 of file interpolator.h.

◆ a4

double * interpolator::a4

private

Definition at line 83 of file interpolator.h.

◆ a5

double * interpolator::a5

private

Definition at line 83 of file interpolator.h.

◆ ddq

deque<double *> interpolator::ddq

private

Definition at line 68 of file interpolator.h.

◆ default_avg_vel

double interpolator::default_avg_vel

private

Definition at line 85 of file interpolator.h.

◆ dim

int interpolator::dim

private

Definition at line 72 of file interpolator.h.

◆ dq

deque<double *> interpolator::dq

private

Definition at line 68 of file interpolator.h.

◆ dt

double interpolator::dt

private

Definition at line 74 of file interpolator.h.

◆ ga

double * interpolator::ga

private

Definition at line 78 of file interpolator.h.

◆ gv

double * interpolator::gv

private

Definition at line 78 of file interpolator.h.

◆ gx

double* interpolator::gx

private

Definition at line 78 of file interpolator.h.

◆ imode

interpolation_mode interpolator::imode

private

Definition at line 63 of file interpolator.h.

◆ length

int interpolator::length

private

Definition at line 70 of file interpolator.h.

◆ name

std::string interpolator::name

private

Definition at line 87 of file interpolator.h.

◆ pop_mutex_

coil::Mutex interpolator::pop_mutex_

private

Definition at line 97 of file interpolator.h.

◆ q

deque<double *> interpolator::q

private

Definition at line 68 of file interpolator.h.

◆ remain_t

double interpolator::remain_t

private

Definition at line 81 of file interpolator.h.

◆ target_t

double interpolator::target_t

private

Definition at line 81 of file interpolator.h.

◆ v

double * interpolator::v

private

Definition at line 76 of file interpolator.h.

◆ x

double* interpolator::x

private

Definition at line 76 of file interpolator.h.

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

Public Types

Public Member Functions

Private Member Functions

Private Attributes

Detailed Description

Member Enumeration Documentation

◆ interpolation_mode

Constructor & Destructor Documentation

◆ interpolator()

◆ ~interpolator()

Member Function Documentation

◆ calc_interpolation_time()

◆ clear()

◆ deltaT()

◆ dimension()

◆ front()

◆ get() [1/3]

◆ get() [2/3]

◆ get() [3/3]

◆ go() [1/2]

◆ go() [2/2]

◆ hoffarbib()

◆ interpolate()

◆ isEmpty()

◆ linear_interpolation()

◆ load() [1/2]

◆ load() [2/2]

◆ pop()

◆ pop_back()

◆ push()

◆ remain_time()

◆ set()

◆ setGoal() [1/2]

◆ setGoal() [2/2]

◆ setInterpolationMode()

◆ setName()

◆ sync()

Member Data Documentation

◆ a

◆ a0

◆ a1

◆ a2

◆ a3

◆ a4

◆ a5

◆ ddq

◆ default_avg_vel

◆ dim

◆ dq

◆ dt

◆ ga

◆ gv

◆ gx

◆ imode

◆ length

◆ name

◆ pop_mutex_

◆ q

◆ remain_t

◆ target_t

◆ v

◆ x