Public Member Functions | Private Attributes
Spl_path Class Reference

Cartesian or joint space trajectory. More...

#include <trajectory.h>

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

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.


Member Function Documentation

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.

short Spl_path::p ( const Real  time,
ColumnVector &  p 
)

Position vector at time t.

Definition at line 357 of file trajectory.cpp.

short Spl_path::p_pdot ( const Real  time,
ColumnVector &  p,
ColumnVector &  pdot 
)

Position and velocity vector at time t.

Definition at line 369 of file trajectory.cpp.

short Spl_path::p_pdot_pddot ( const Real  time,
ColumnVector &  p,
ColumnVector &  pdot,
ColumnVector &  pdotdot 
)

Position, velocity and acceleration vector at time t.

Definition at line 386 of file trajectory.cpp.


Member Data Documentation

double Spl_path::final_time [private]

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:


kni
Author(s): Martin Günther
autogenerated on Mon Aug 14 2017 02:44:13