Public Member Functions | Private Attributes | List of all members
Spl_cubic Class Reference

Natural cubic splines class. More...

#include <trajectory.h>

Inheritance diagram for Spl_cubic:
Inheritance graph
[legend]

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
ptsMatrix 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:

\[ s = A_k(t-t_k)^3 + B_k(t-t_k)^2 + C_k(t-t_k) + D_k \]

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.


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


kni
Author(s): Martin Günther
autogenerated on Fri Jan 3 2020 04:01:17