Functions | |
| static void | generatePowers (int n, double x, double *powers) |
| void | getCubicSplineCoefficients (double start_pos, double start_vel, double end_pos, double end_vel, double time, std::vector< double > &coefficients) |
| Calculates cubic spline coefficients given the start and end way-points. | |
| void | sampleCubicSpline (const std::vector< double > &coefficients, double time, double &position, double &velocity, double &acceleration) |
| Samples a cubic spline segment at a particular time. | |
| static void spline_smoother::generatePowers | ( | int | n, |
| double | x, | ||
| double * | powers | ||
| ) | [inline, static] |
Definition at line 127 of file katana_gripper_joint_trajectory_controller.h.
| void spline_smoother::getCubicSplineCoefficients | ( | double | start_pos, |
| double | start_vel, | ||
| double | end_pos, | ||
| double | end_vel, | ||
| double | time, | ||
| std::vector< double > & | coefficients | ||
| ) | [inline] |
Calculates cubic spline coefficients given the start and end way-points.
The input to this function is the start and end way-point, with position, velocity and the duration of the spline segment. (assumes that the spline runs from 0 to time)
Returns 4 coefficients of the quintic polynomial in the "coefficients" vector. The spline can then be sampled as: x = coefficients[0]*t^0 + coefficients[1]*t^1 ... coefficients[3]*t^3
Definition at line 156 of file katana_gripper_joint_trajectory_controller.h.
| void spline_smoother::sampleCubicSpline | ( | const std::vector< double > & | coefficients, |
| double | time, | ||
| double & | position, | ||
| double & | velocity, | ||
| double & | acceleration | ||
| ) | [inline] |
Samples a cubic spline segment at a particular time.
Definition at line 170 of file katana_gripper_joint_trajectory_controller.h.