robot_controllers: trajectory_spline_sampler.h File Reference

#include <robot_controllers/trajectory.h>

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Classes
struct	robot_controllers::SplineTrajectorySampler::Segment
struct	robot_controllers::Spline
	Spline. More...
class	robot_controllers::SplineTrajectorySampler
	Sampler that uses splines. More...
Namespaces
namespace	robot_controllers
Enumerations
enum	SplineType { robot_controllers::QUINTIC, robot_controllers::CUBIC, robot_controllers::LINEAR }
Functions
static void	robot_controllers::CubicSpline (double p0, double v0, double p1, double v1, double t, Spline &s)
	Constructor for a cubic spline with between (p0,v0) and (p1,v1)
static void	robot_controllers::generatePowers (int n, double x, double *powers)
	Helper function for splines.
static void	robot_controllers::LinearSpline (double p0, double p1, double t, Spline &s)
static void	robot_controllers::QuinticSpline (double p0, double v0, double a0, double p1, double v1, double a1, double t, Spline &s)
	Create a quintic spline with between (p0,v0,a0) and (p1,v1,a1)
static void	robot_controllers::sampleCubicSpline (Spline s, double t, double &position, double &velocity)
	Sample from the spline at time t.
static void	robot_controllers::sampleLinearSpline (Spline &s, double t, double &position)
static void	robot_controllers::sampleQuinticSpline (Spline &s, double t, double &position, double &velocity, double &acceleration)
	Sample from the spline at time t.

Classes