interpolator Class Reference

#include <interpolator.h>

List of all members.

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.

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Member Enumeration Documentation

enum interpolator::interpolation_mode

Enumerator:

LINEAR
HOFFARBIB
QUINTICSPLINE
CUBICSPLINE

Definition at line 23 of file interpolator.h.

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Constructor & Destructor Documentation

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

(

)

Definition at line 35 of file interpolator.cpp.

---

Member Function Documentation

double interpolator::calc_interpolation_time

(

const double *

g

)

Definition at line 99 of file interpolator.cpp.

void interpolator::clear

(

void

)

Definition at line 52 of file interpolator.cpp.

double interpolator::deltaT

(

)

const [inline]

Definition at line 61 of file interpolator.h.

int interpolator::dimension

(

)

const [inline]

Definition at line 62 of file interpolator.h.

double * interpolator::front

(

)

Definition at line 337 of file interpolator.cpp.

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

Definition at line 346 of file interpolator.cpp.

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

Definition at line 351 of file interpolator.cpp.

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

Definition at line 356 of file interpolator.cpp.

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

Definition at line 208 of file interpolator.cpp.

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

Definition at line 203 of file interpolator.cpp.

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.

void interpolator::interpolate

(

double &

remain_t_

)

Definition at line 177 of file interpolator.cpp.

bool interpolator::isEmpty

(

void

)

Definition at line 387 of file interpolator.cpp.

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

Definition at line 77 of file interpolator.cpp.

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.

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.

void interpolator::pop

(

)

Definition at line 273 of file interpolator.cpp.

void interpolator::pop_back

(

)

Definition at line 290 of file interpolator.cpp.

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

Definition at line 259 of file interpolator.cpp.

double interpolator::remain_time

(

)

Definition at line 392 of file interpolator.cpp.

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

Definition at line 324 of file interpolator.cpp.

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

Definition at line 131 of file interpolator.cpp.

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

Definition at line 125 of file interpolator.cpp.

bool interpolator::setInterpolationMode

(

interpolation_mode

i_mode_

)

Definition at line 117 of file interpolator.cpp.

void interpolator::setName

(

const std::string &

_name

)

[inline]

Definition at line 63 of file interpolator.h.

void interpolator::sync

(

)

Definition at line 93 of file interpolator.cpp.

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Member Data Documentation

double * interpolator::a [private]

Definition at line 76 of file interpolator.h.

double* interpolator::a0 [private]

Definition at line 83 of file interpolator.h.

double * interpolator::a1 [private]

Definition at line 83 of file interpolator.h.

double * interpolator::a2 [private]

Definition at line 83 of file interpolator.h.

double * interpolator::a3 [private]

Definition at line 83 of file interpolator.h.

double * interpolator::a4 [private]

Definition at line 83 of file interpolator.h.

double * interpolator::a5 [private]

Definition at line 83 of file interpolator.h.

deque<double *> interpolator::ddq [private]

Definition at line 68 of file interpolator.h.

double interpolator::default_avg_vel [private]

Definition at line 85 of file interpolator.h.

int interpolator::dim [private]

Definition at line 72 of file interpolator.h.

deque<double *> interpolator::dq [private]

Definition at line 68 of file interpolator.h.

double interpolator::dt [private]

Definition at line 74 of file interpolator.h.

double * interpolator::ga [private]

Definition at line 78 of file interpolator.h.

double * interpolator::gv [private]

Definition at line 78 of file interpolator.h.

double* interpolator::gx [private]

Definition at line 78 of file interpolator.h.

interpolation_mode interpolator::imode [private]

Definition at line 63 of file interpolator.h.

int interpolator::length [private]

Definition at line 70 of file interpolator.h.

std::string interpolator::name [private]

Definition at line 87 of file interpolator.h.

coil::Mutex interpolator::pop_mutex_ [private]

Definition at line 97 of file interpolator.h.

deque<double *> interpolator::q [private]

Definition at line 68 of file interpolator.h.

double interpolator::remain_t [private]

Definition at line 81 of file interpolator.h.

double interpolator::target_t [private]

Definition at line 81 of file interpolator.h.

double * interpolator::v [private]

Definition at line 76 of file interpolator.h.

double* interpolator::x [private]

Definition at line 76 of file interpolator.h.

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

• interpolator.h
• interpolator.cpp