Spl_cubic Class Reference

Natural cubic splines class. More...

#include <trajectory.h>

Inheritance diagram for Spl_cubic:

Public Member Functions
short	first_derivative (const Real t, ColumnVector &ds)
	Spline first derivative at time t. More...
short	interpolating (const Real t, ColumnVector &s)
	Interpolating the spline at time t. Extrapolating is not allowed. More...
short	second_derivative (const Real t, ColumnVector &dds)
	Spline second derivative at time t. More...
	Spl_cubic ()
	Spl_cubic (const Matrix &pts)
	Constructor. More...

Private Attributes
Matrix	Ak
bool	bad_data
	Status flag. More...
Matrix	Bk
Matrix	Ck
Matrix	Dk
int	nb_path
	Number of path, i.e: path in x,y,z nb_path=3. More...
RowVector	tk
	Time at control points. More...

Detailed Description

Natural cubic splines class.

Definition at line 91 of file trajectory.h.

Constructor & Destructor Documentation

Spl_cubic::Spl_cubic ( )

inline

Definition at line 94 of file trajectory.h.

Spl_cubic::Spl_cubic

(

const Matrix &

pts

)

Constructor.

Parameters

pts	Matrix containing the spline data.

The first line of the Matrix contain the sampling time Second line contain data (sk) to create spline i. Third " " i+1. on Nth line i+N.

The spline has the following form:

Definition at line 58 of file trajectory.cpp.

Member Function Documentation

short Spl_cubic::first_derivative	(	const Real	t,
		ColumnVector &	ds
	)

Spline first derivative at time t.

Definition at line 182 of file trajectory.cpp.

short Spl_cubic::interpolating	(	const Real	t,
		ColumnVector &	s
	)

Interpolating the spline at time t. Extrapolating is not allowed.

Definition at line 158 of file trajectory.cpp.

short Spl_cubic::second_derivative	(	const Real	t,
		ColumnVector &	dds
	)

Spline second derivative at time t.

Definition at line 205 of file trajectory.cpp.

Member Data Documentation

Matrix Spl_cubic::Ak

private

Definition at line 102 of file trajectory.h.

bool Spl_cubic::bad_data

private

Status flag.

Definition at line 104 of file trajectory.h.

Matrix Spl_cubic::Bk

private

Definition at line 102 of file trajectory.h.

Matrix Spl_cubic::Ck

private

Definition at line 102 of file trajectory.h.

Matrix Spl_cubic::Dk

private

Definition at line 102 of file trajectory.h.

int Spl_cubic::nb_path

private

Number of path, i.e: path in x,y,z nb_path=3.

Definition at line 100 of file trajectory.h.

RowVector Spl_cubic::tk

private

Time at control points.

Definition at line 103 of file trajectory.h.

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

• trajectory.h
• trajectory.cpp