Class representing a multi-dimensional quintic spline segment with a start and end time. More...

#include <quintic_spline_segment.h>

Public Types
typedef ScalarType	Scalar

typedef PosVelAccState< Scalar >	State

typedef Scalar	Time

Public Member Functions
Time	endTime () const

void	init (const Time &start_time, const State &start_state, const Time &end_time, const State &end_state)
	Initialize segment from start and end states (boundary conditions). More...

	QuinticSplineSegment ()
	Creates an empty segment. More...

	QuinticSplineSegment (const Time &start_time, const State &start_state, const Time &end_time, const State &end_state)
	Construct segment from start and end states (boundary conditions). More...

void	sample (const Time &time, State &state) const
	Sample the segment at a specified time. More...

unsigned int	size () const

Time	startTime () const

Private Types
typedef boost::array< Scalar, 6 >	SplineCoefficients

Static Private Member Functions
static void	computeCoefficients (const Scalar &start_pos, const Scalar &end_pos, const Scalar &time, SplineCoefficients &coefficients)

static void	computeCoefficients (const Scalar &start_pos, const Scalar &start_vel, const Scalar &end_pos, const Scalar &end_vel, const Scalar &time, SplineCoefficients &coefficients)

static void	computeCoefficients (const Scalar &start_pos, const Scalar &start_vel, const Scalar &start_acc, const Scalar &end_pos, const Scalar &end_vel, const Scalar &end_acc, const Scalar &time, SplineCoefficients &coefficients)

static void	generatePowers (int n, const Scalar &x, Scalar *powers)

static void	sample (const SplineCoefficients &coefficients, const Scalar &time, Scalar &position, Scalar &velocity, Scalar &acceleration)

static void	sampleWithTimeBounds (const SplineCoefficients &coefficients, const Scalar &duration, const Scalar &time, Scalar &position, Scalar &velocity, Scalar &acceleration)

Private Attributes
std::vector< SplineCoefficients >	coefs_

Time	duration_

Time	start_time_

Detailed Description

template<class ScalarType>
class trajectory_interface::QuinticSplineSegment< ScalarType >

Class representing a multi-dimensional quintic spline segment with a start and end time.

Template Parameters

ScalarType Scalar type

Definition at line 51 of file quintic_spline_segment.h.

Member Typedef Documentation

template<class ScalarType >

typedef ScalarType trajectory_interface::QuinticSplineSegment< ScalarType >::Scalar

Definition at line 54 of file quintic_spline_segment.h.

template<class ScalarType >

typedef boost::array<Scalar, 6> trajectory_interface::QuinticSplineSegment< ScalarType >::SplineCoefficients

private

Definition at line 146 of file quintic_spline_segment.h.

template<class ScalarType >

typedef PosVelAccState<Scalar> trajectory_interface::QuinticSplineSegment< ScalarType >::State

Definition at line 56 of file quintic_spline_segment.h.

template<class ScalarType >

typedef Scalar trajectory_interface::QuinticSplineSegment< ScalarType >::Time

Definition at line 55 of file quintic_spline_segment.h.

Constructor & Destructor Documentation

template<class ScalarType >

trajectory_interface::QuinticSplineSegment< ScalarType >::QuinticSplineSegment ( )

inline

Creates an empty segment.

Note: Calling size() on an empty segment will yield zero, and sampling it will yield a state with empty data.

Definition at line 64 of file quintic_spline_segment.h.

template<class ScalarType >

trajectory_interface::QuinticSplineSegment< ScalarType >::QuinticSplineSegment	(	const Time &	start_time,
		const State &	start_state,
		const Time &	end_time,
		const State &	end_state
	)

inline

Construct segment from start and end states (boundary conditions).

Please refer to the init method documentation for the description of each parameter and the exceptions that can be thrown.

Definition at line 76 of file quintic_spline_segment.h.

Member Function Documentation

template<class ScalarType >

void trajectory_interface::QuinticSplineSegment< ScalarType >::computeCoefficients	(	const Scalar &	start_pos,
		const Scalar &	end_pos,
		const Scalar &	time,
		SplineCoefficients &	coefficients
	)

staticprivate

Definition at line 284 of file quintic_spline_segment.h.

template<class ScalarType >

void trajectory_interface::QuinticSplineSegment< ScalarType >::computeCoefficients	(	const Scalar &	start_pos,
		const Scalar &	start_vel,
		const Scalar &	end_pos,
		const Scalar &	end_vel,
		const Scalar &	time,
		SplineCoefficients &	coefficients
	)

staticprivate

Definition at line 299 of file quintic_spline_segment.h.

template<class ScalarType >

void trajectory_interface::QuinticSplineSegment< ScalarType >::computeCoefficients	(	const Scalar &	start_pos,
		const Scalar &	start_vel,
		const Scalar &	start_acc,
		const Scalar &	end_pos,
		const Scalar &	end_vel,
		const Scalar &	end_acc,
		const Scalar &	time,
		SplineCoefficients &	coefficients
	)

staticprivate

Definition at line 327 of file quintic_spline_segment.h.

template<class ScalarType >

Time trajectory_interface::QuinticSplineSegment< ScalarType >::endTime ( ) const

inline

Returns: Segment end time.

Definition at line 140 of file quintic_spline_segment.h.

template<class ScalarType >

void trajectory_interface::QuinticSplineSegment< ScalarType >::generatePowers	(	int	n,
		const Scalar &	x,
		Scalar *	powers
	)

inlinestaticprivate

Definition at line 273 of file quintic_spline_segment.h.

template<class ScalarType >

void trajectory_interface::QuinticSplineSegment< ScalarType >::init	(	const Time &	start_time,
		const State &	start_state,
		const Time &	end_time,
		const State &	end_state
	)

Initialize segment from start and end states (boundary conditions).

The start and end states need not necessarily be specified all the way to the acceleration level:

If only positions are specified, linear interpolation will be used.
If positions and velocities are specified, a cubic spline will be used.
If positions, velocities and accelerations are specified, a quintic spline will be used.

Note: If start and end states have different specifications (eg. start is positon-only, end is position-velocity), the lowest common specification will be used (position-only in the example).

Parameters

start_time	Time at which the segment state equals `start_state`.
start_state	State at `start_time`.
end_time	Time at which the segment state equals `end_state`.
end_state	State at time `end_time`.

Exceptions

std::invalid_argument If the end_time is earlier than start_time or if one of the states is uninitialized.

Definition at line 183 of file quintic_spline_segment.h.

template<class ScalarType >

void trajectory_interface::QuinticSplineSegment< ScalarType >::sample	(	const Time &	time,
		State &	state
	)		const

inline

Sample the segment at a specified time.

Note: Within the [start_time, end_time] interval, spline interpolation takes place, outside it this method will output the start/end states with zero velocity and acceleration.

Parameters

[in]	time	Where the segment is to be sampled.
[out]	state	Segment state at `time`.

Definition at line 118 of file quintic_spline_segment.h.

template<class ScalarType >

void trajectory_interface::QuinticSplineSegment< ScalarType >::sample	(	const SplineCoefficients &	coefficients,
		const Scalar &	time,
		Scalar &	position,
		Scalar &	velocity,
		Scalar &	acceleration
	)

staticprivate

Definition at line 360 of file quintic_spline_segment.h.

template<class ScalarType >

void trajectory_interface::QuinticSplineSegment< ScalarType >::sampleWithTimeBounds	(	const SplineCoefficients &	coefficients,
		const Scalar &	duration,
		const Scalar &	time,
		Scalar &	position,
		Scalar &	velocity,
		Scalar &	acceleration
	)

staticprivate

Definition at line 388 of file quintic_spline_segment.h.

template<class ScalarType >

unsigned int trajectory_interface::QuinticSplineSegment< ScalarType >::size ( ) const

inline

Returns: Segment size (dimension).

Definition at line 143 of file quintic_spline_segment.h.

template<class ScalarType >

Time trajectory_interface::QuinticSplineSegment< ScalarType >::startTime ( ) const

inline

Returns: Segment start time.

Definition at line 137 of file quintic_spline_segment.h.

Member Data Documentation

template<class ScalarType >

std::vector<SplineCoefficients> trajectory_interface::QuinticSplineSegment< ScalarType >::coefs_

private

Coefficients represent a quintic polynomial like so:

coefs_[0] + coefs_[1]*x + coefs_[2]*x^2 + coefs_[3]*x^3 + coefs_[4]*x^4 + coefs_[5]*x^5

Definition at line 152 of file quintic_spline_segment.h.

template<class ScalarType >

Time trajectory_interface::QuinticSplineSegment< ScalarType >::duration_

private

Definition at line 153 of file quintic_spline_segment.h.

template<class ScalarType >

Time trajectory_interface::QuinticSplineSegment< ScalarType >::start_time_

private

Definition at line 154 of file quintic_spline_segment.h.

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

quintic_spline_segment.h

Public Types

Public Member Functions

Private Types

Static Private Member Functions

Private Attributes

Detailed Description

template<class ScalarType> class trajectory_interface::QuinticSplineSegment< ScalarType >

Member Typedef Documentation

Constructor & Destructor Documentation

Member Function Documentation

Member Data Documentation

template<class ScalarType>
class trajectory_interface::QuinticSplineSegment< ScalarType >