Cartesian or joint space trajectory. More...

#include <trajectory.h>

Inheritance diagram for Spl_path:

Public Member Functions
double	get_final_time ()
short	get_type ()
short	p (const Real time, ColumnVector &p)
	Position vector at time t.
short	p_pdot (const Real time, ColumnVector &p, ColumnVector &pdot)
	Position and velocity vector at time t.
short	p_pdot_pddot (const Real time, ColumnVector &p, ColumnVector &pdot, ColumnVector &pdotdot)
	Position, velocity and acceleration vector at time t.
	Spl_path ()
	Spl_path (const std::string &filename)
	Spl_path (const Matrix &x)
	Constructor.
Private Attributes
double	final_time
	Spline final time.
short	type
	Cartesian space or joint space.

Detailed Description

Cartesian or joint space trajectory.

Definition at line 120 of file trajectory.h.

Constructor & Destructor Documentation

Spl_path::Spl_path ( ) [inline]

Definition at line 123 of file trajectory.h.

Spl_path::Spl_path ( const std::string & filename )

Spl_path::Spl_path ( const Matrix & x )

Constructor.

Definition at line 353 of file trajectory.cpp.

double Spl_path::get_final_time ( ) [inline]

Definition at line 131 of file trajectory.h.

short Spl_path::get_type ( ) [inline]

Definition at line 130 of file trajectory.h.

Position vector at time t.

Definition at line 357 of file trajectory.cpp.

Position and velocity vector at time t.

Definition at line 369 of file trajectory.cpp.

Position, velocity and acceleration vector at time t.

Definition at line 386 of file trajectory.cpp.

Spline final time.

Definition at line 135 of file trajectory.h.

short Spl_path::type [private]

Cartesian space or joint space.

Definition at line 134 of file trajectory.h.

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