robotis_framework::FifthOrderPolynomialTrajectory Class Reference

#include <fifth_order_polynomial_trajectory.h>

Public Member Functions
bool	changeTrajectory (double final_pos, double final_vel, double final_acc)
bool	changeTrajectory (double final_time, double final_pos, double final_vel, double final_acc)
bool	changeTrajectory (double initial_time, double initial_pos, double initial_vel, double initial_acc, double final_time, double final_pos, double final_vel, double final_acc)
	FifthOrderPolynomialTrajectory (double initial_time, double initial_pos, double initial_vel, double initial_acc, double final_time, double final_pos, double final_vel, double final_acc)
	FifthOrderPolynomialTrajectory ()
double	getAcceleration (double time)
double	getAcceleration ()
double	getPosition (double time)
double	getPosition ()
double	getVelocity (double time)
double	getVelocity ()
void	setTime (double time)
	~FifthOrderPolynomialTrajectory ()

Public Attributes
Eigen::MatrixXd	acceleration_coeff_
double	current_acc_
double	current_pos_
double	current_time_
double	current_vel_
double	final_acc_
double	final_pos_
double	final_time_
double	final_vel_
double	initial_acc_
double	initial_pos_
double	initial_time_
double	initial_vel_
Eigen::MatrixXd	position_coeff_
Eigen::MatrixXd	time_variables_
Eigen::MatrixXd	velocity_coeff_

Detailed Description

Definition at line 35 of file fifth_order_polynomial_trajectory.h.

Constructor & Destructor Documentation

FifthOrderPolynomialTrajectory::FifthOrderPolynomialTrajectory	(	double	initial_time,
		double	initial_pos,
		double	initial_vel,
		double	initial_acc,
		double	final_time,
		double	final_pos,
		double	final_vel,
		double	final_acc
	)

Definition at line 28 of file fifth_order_polynomial_trajectory.cpp.

FifthOrderPolynomialTrajectory::FifthOrderPolynomialTrajectory

(

)

Definition at line 89 of file fifth_order_polynomial_trajectory.cpp.

FifthOrderPolynomialTrajectory::~FifthOrderPolynomialTrajectory

(

)

Definition at line 117 of file fifth_order_polynomial_trajectory.cpp.

Member Function Documentation

bool FifthOrderPolynomialTrajectory::changeTrajectory	(	double	final_pos,
		double	final_vel,
		double	final_acc
	)

Definition at line 122 of file fifth_order_polynomial_trajectory.cpp.

bool FifthOrderPolynomialTrajectory::changeTrajectory	(	double	final_time,
		double	final_pos,
		double	final_vel,
		double	final_acc
	)

Definition at line 159 of file fifth_order_polynomial_trajectory.cpp.

bool FifthOrderPolynomialTrajectory::changeTrajectory	(	double	initial_time,
		double	initial_pos,
		double	initial_vel,
		double	initial_acc,
		double	final_time,
		double	final_pos,
		double	final_vel,
		double	final_acc
	)

Definition at line 168 of file fifth_order_polynomial_trajectory.cpp.

double FifthOrderPolynomialTrajectory::getAcceleration

(

double

time

)

Definition at line 242 of file fifth_order_polynomial_trajectory.cpp.

double FifthOrderPolynomialTrajectory::getAcceleration

(

)

Definition at line 307 of file fifth_order_polynomial_trajectory.cpp.

double FifthOrderPolynomialTrajectory::getPosition

(

double

time

)

Definition at line 184 of file fifth_order_polynomial_trajectory.cpp.

double FifthOrderPolynomialTrajectory::getPosition

(

)

Definition at line 297 of file fifth_order_polynomial_trajectory.cpp.

double FifthOrderPolynomialTrajectory::getVelocity

(

double

time

)

Definition at line 213 of file fifth_order_polynomial_trajectory.cpp.

double FifthOrderPolynomialTrajectory::getVelocity

(

)

Definition at line 302 of file fifth_order_polynomial_trajectory.cpp.

void FifthOrderPolynomialTrajectory::setTime

(

double

time

)

Definition at line 271 of file fifth_order_polynomial_trajectory.cpp.

Member Data Documentation

Eigen::MatrixXd robotis_framework::FifthOrderPolynomialTrajectory::acceleration_coeff_

Definition at line 74 of file fifth_order_polynomial_trajectory.h.

double robotis_framework::FifthOrderPolynomialTrajectory::current_acc_

Definition at line 65 of file fifth_order_polynomial_trajectory.h.

double robotis_framework::FifthOrderPolynomialTrajectory::current_pos_

Definition at line 63 of file fifth_order_polynomial_trajectory.h.

double robotis_framework::FifthOrderPolynomialTrajectory::current_time_

Definition at line 62 of file fifth_order_polynomial_trajectory.h.

double robotis_framework::FifthOrderPolynomialTrajectory::current_vel_

Definition at line 64 of file fifth_order_polynomial_trajectory.h.

double robotis_framework::FifthOrderPolynomialTrajectory::final_acc_

Definition at line 70 of file fifth_order_polynomial_trajectory.h.

double robotis_framework::FifthOrderPolynomialTrajectory::final_pos_

Definition at line 68 of file fifth_order_polynomial_trajectory.h.

double robotis_framework::FifthOrderPolynomialTrajectory::final_time_

Definition at line 67 of file fifth_order_polynomial_trajectory.h.

double robotis_framework::FifthOrderPolynomialTrajectory::final_vel_

Definition at line 69 of file fifth_order_polynomial_trajectory.h.

double robotis_framework::FifthOrderPolynomialTrajectory::initial_acc_

Definition at line 60 of file fifth_order_polynomial_trajectory.h.

double robotis_framework::FifthOrderPolynomialTrajectory::initial_pos_

Definition at line 58 of file fifth_order_polynomial_trajectory.h.

double robotis_framework::FifthOrderPolynomialTrajectory::initial_time_

Definition at line 57 of file fifth_order_polynomial_trajectory.h.

double robotis_framework::FifthOrderPolynomialTrajectory::initial_vel_

Definition at line 59 of file fifth_order_polynomial_trajectory.h.

Eigen::MatrixXd robotis_framework::FifthOrderPolynomialTrajectory::position_coeff_

Definition at line 72 of file fifth_order_polynomial_trajectory.h.

Eigen::MatrixXd robotis_framework::FifthOrderPolynomialTrajectory::time_variables_

Definition at line 75 of file fifth_order_polynomial_trajectory.h.

Eigen::MatrixXd robotis_framework::FifthOrderPolynomialTrajectory::velocity_coeff_

Definition at line 73 of file fifth_order_polynomial_trajectory.h.

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

• fifth_order_polynomial_trajectory.h
• fifth_order_polynomial_trajectory.cpp