Natural cubic splines class. More...
#include <trajectory.h>
Public Member Functions | |
| short | first_derivative (const Real t, ColumnVector &ds) |
| Spline first derivative at time t. | |
| short | interpolating (const Real t, ColumnVector &s) |
| Interpolating the spline at time t. Extrapolating is not allowed. | |
| short | second_derivative (const Real t, ColumnVector &dds) |
| Spline second derivative at time t. | |
| Spl_cubic () | |
| Spl_cubic (const Matrix &pts) | |
| Constructor. | |
Private Attributes | |
| Matrix | Ak |
| bool | bad_data |
| Status flag. | |
| Matrix | Bk |
| Matrix | Ck |
| Matrix | Dk |
| int | nb_path |
| Number of path, i.e: path in x,y,z nb_path=3. | |
| RowVector | tk |
| Time at control points. | |
Natural cubic splines class.
Definition at line 91 of file trajectory.h.
| Spl_cubic::Spl_cubic | ( | ) | [inline] |
Definition at line 94 of file trajectory.h.
| Spl_cubic::Spl_cubic | ( | const Matrix & | pts | ) |
Constructor.
| pts,: | Matrix containing the spline data. |
The first line of the Matrix contain the sampling time Second line contain data (sk) to create spline i. Third " " i+1. on Nth line i+N.
The spline has the following form:
![\[ s = A_k(t-t_k)^3 + B_k(t-t_k)^2 + C_k(t-t_k) + D_k \]](form_340.png)
Definition at line 58 of file trajectory.cpp.
| short Spl_cubic::first_derivative | ( | const Real | t, |
| ColumnVector & | ds | ||
| ) |
Spline first derivative at time t.
Definition at line 182 of file trajectory.cpp.
| short Spl_cubic::interpolating | ( | const Real | t, |
| ColumnVector & | s | ||
| ) |
Interpolating the spline at time t. Extrapolating is not allowed.
Definition at line 158 of file trajectory.cpp.
| short Spl_cubic::second_derivative | ( | const Real | t, |
| ColumnVector & | dds | ||
| ) |
Spline second derivative at time t.
Definition at line 205 of file trajectory.cpp.
Matrix Spl_cubic::Ak [private] |
Definition at line 102 of file trajectory.h.
bool Spl_cubic::bad_data [private] |
Status flag.
Definition at line 104 of file trajectory.h.
Matrix Spl_cubic::Bk [private] |
Definition at line 102 of file trajectory.h.
Matrix Spl_cubic::Ck [private] |
Definition at line 102 of file trajectory.h.
Matrix Spl_cubic::Dk [private] |
Definition at line 102 of file trajectory.h.
int Spl_cubic::nb_path [private] |
Number of path, i.e: path in x,y,z nb_path=3.
Definition at line 100 of file trajectory.h.
RowVector Spl_cubic::tk [private] |
Time at control points.
Definition at line 103 of file trajectory.h.
