Public Member Functions | Private Attributes
Spl_cubic Class Reference

Natural cubic splines class. More...

#include <trajectory.h>

Inheritance diagram for Spl_cubic:
Inheritance graph
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List of all members.

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.

Detailed Description

Natural cubic splines class.

Definition at line 91 of file trajectory.h.


Constructor & Destructor Documentation

Spl_cubic::Spl_cubic ( ) [inline]

Definition at line 94 of file trajectory.h.

Spl_cubic::Spl_cubic ( const Matrix &  pts)

Constructor.

Parameters:
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:

\[ s = A_k(t-t_k)^3 + B_k(t-t_k)^2 + C_k(t-t_k) + D_k \]

Definition at line 58 of file trajectory.cpp.


Member Function Documentation

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.


Member Data Documentation

Matrix Spl_cubic::Ak [private]

Definition at line 102 of file trajectory.h.

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.


The documentation for this class was generated from the following files:
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kni
Author(s): Neuronics AG (see AUTHORS.txt); ROS wrapper by Martin Günther
autogenerated on Tue May 28 2013 14:52:55