Public Types | Public Member Functions | Private Attributes | List of all members
corbo::SineReferenceTrajectory Class Reference

Sine reference trajectory. More...

#include <reference_trajectory.h>

Inheritance diagram for corbo::SineReferenceTrajectory:
Inheritance graph
[legend]

Public Types

using Ptr = std::shared_ptr< SineReferenceTrajectory >
 
- Public Types inherited from corbo::ReferenceTrajectoryInterface
using OutputVector = Eigen::VectorXd
 
using Ptr = std::shared_ptr< ReferenceTrajectoryInterface >
 

Public Member Functions

int getDimension () const override
 
ReferenceTrajectoryInterface::Ptr getInstance () const override
 
const OutputVector & getNextSteadyState (const Time &t) override
 
void getReference (const Time &t, OutputVector &ref) const override
 
const OutputVector & getReferenceCached (int k) const override
 
bool isCached (double dt, int n, Time t) const override
 
bool isCached (const std::vector< double > &dt, Time t) const override
 
bool isStatic () const override
 
bool isZero () const override
 
void precompute (double dt, int n, Time t) override
 
void precompute (const std::vector< double > &dt, Time t) override
 
void setParameters (const double &amplitude, const double &omega, const double offset)
 
 SineReferenceTrajectory ()
 
 SineReferenceTrajectory (const double &amplitude, const double &omega, const double offset)
 
- Public Member Functions inherited from corbo::ReferenceTrajectoryInterface
virtual ~ReferenceTrajectoryInterface ()=default
 

Private Attributes

double _amplitude = 1
 
std::vector< double > _cached_dt
 
Time _cached_t
 
std::vector< OutputVector > _cached_trajectory
 
double _offset = 0
 
double _omega = 1
 
OutputVector _zero_vector = Eigen::VectorXd::Zero(1)
 

Additional Inherited Members

- Static Public Member Functions inherited from corbo::ReferenceTrajectoryInterface
static Factory< ReferenceTrajectoryInterface > & getFactory ()
 Get access to the associated factory. More...
 

Detailed Description

Sine reference trajectory.

Stores a non-static reference trajectory containg a sinusoide function of the form f= amplitude * sin(ometa * t + offset)

Author
Rodrigo Velasco (rodri.nosp@m.go.v.nosp@m.elasc.nosp@m.o@tu.nosp@m.-dort.nosp@m.mund.nosp@m..de)

Definition at line 194 of file reference_trajectory.h.

Member Typedef Documentation

◆ Ptr

using corbo::SineReferenceTrajectory::Ptr = std::shared_ptr<SineReferenceTrajectory>

Definition at line 197 of file reference_trajectory.h.

Constructor & Destructor Documentation

◆ SineReferenceTrajectory() [1/2]

corbo::SineReferenceTrajectory::SineReferenceTrajectory ( )
inline

Definition at line 199 of file reference_trajectory.h.

◆ SineReferenceTrajectory() [2/2]

corbo::SineReferenceTrajectory::SineReferenceTrajectory ( const double &  amplitude,
const double &  omega,
const double  offset 
)
inlineexplicit

Definition at line 200 of file reference_trajectory.h.

Member Function Documentation

◆ getDimension()

int corbo::SineReferenceTrajectory::getDimension ( ) const
inlineoverridevirtual

Implements corbo::ReferenceTrajectoryInterface.

Definition at line 213 of file reference_trajectory.h.

◆ getInstance()

ReferenceTrajectoryInterface::Ptr corbo::SineReferenceTrajectory::getInstance ( ) const
inlineoverridevirtual

Implements corbo::ReferenceTrajectoryInterface.

Definition at line 209 of file reference_trajectory.h.

◆ getNextSteadyState()

const OutputVector& corbo::SineReferenceTrajectory::getNextSteadyState ( const Time &  t)
inlineoverridevirtual

Implements corbo::ReferenceTrajectoryInterface.

Definition at line 280 of file reference_trajectory.h.

◆ getReference()

void corbo::SineReferenceTrajectory::getReference ( const Time &  t,
OutputVector &  ref 
) const
inlineoverridevirtual

Implements corbo::ReferenceTrajectoryInterface.

Definition at line 263 of file reference_trajectory.h.

◆ getReferenceCached()

const OutputVector& corbo::SineReferenceTrajectory::getReferenceCached ( int  k) const
inlineoverridevirtual

Implements corbo::ReferenceTrajectoryInterface.

Definition at line 269 of file reference_trajectory.h.

◆ isCached() [1/2]

bool corbo::SineReferenceTrajectory::isCached ( double  dt,
int  n,
Time  t 
) const
inlineoverridevirtual

Implements corbo::ReferenceTrajectoryInterface.

Definition at line 215 of file reference_trajectory.h.

◆ isCached() [2/2]

bool corbo::SineReferenceTrajectory::isCached ( const std::vector< double > &  dt,
Time  t 
) const
inlineoverridevirtual

Implements corbo::ReferenceTrajectoryInterface.

Definition at line 221 of file reference_trajectory.h.

◆ isStatic()

bool corbo::SineReferenceTrajectory::isStatic ( ) const
inlineoverridevirtual

Implements corbo::ReferenceTrajectoryInterface.

Definition at line 211 of file reference_trajectory.h.

◆ isZero()

bool corbo::SineReferenceTrajectory::isZero ( ) const
inlineoverridevirtual

Reimplemented from corbo::ReferenceTrajectoryInterface.

Definition at line 212 of file reference_trajectory.h.

◆ precompute() [1/2]

void corbo::SineReferenceTrajectory::precompute ( double  dt,
int  n,
Time  t 
)
inlineoverridevirtual

Implements corbo::ReferenceTrajectoryInterface.

Definition at line 231 of file reference_trajectory.h.

◆ precompute() [2/2]

void corbo::SineReferenceTrajectory::precompute ( const std::vector< double > &  dt,
Time  t 
)
inlineoverridevirtual

Implements corbo::ReferenceTrajectoryInterface.

Definition at line 247 of file reference_trajectory.h.

◆ setParameters()

void corbo::SineReferenceTrajectory::setParameters ( const double &  amplitude,
const double &  omega,
const double  offset 
)
inline

Definition at line 287 of file reference_trajectory.h.

Member Data Documentation

◆ _amplitude

double corbo::SineReferenceTrajectory::_amplitude = 1
private

Definition at line 295 of file reference_trajectory.h.

◆ _cached_dt

std::vector<double> corbo::SineReferenceTrajectory::_cached_dt
private

Definition at line 299 of file reference_trajectory.h.

◆ _cached_t

Time corbo::SineReferenceTrajectory::_cached_t
private

Definition at line 300 of file reference_trajectory.h.

◆ _cached_trajectory

std::vector<OutputVector> corbo::SineReferenceTrajectory::_cached_trajectory
private

Definition at line 298 of file reference_trajectory.h.

◆ _offset

double corbo::SineReferenceTrajectory::_offset = 0
private

Definition at line 297 of file reference_trajectory.h.

◆ _omega

double corbo::SineReferenceTrajectory::_omega = 1
private

Definition at line 296 of file reference_trajectory.h.

◆ _zero_vector

OutputVector corbo::SineReferenceTrajectory::_zero_vector = Eigen::VectorXd::Zero(1)
private

Definition at line 301 of file reference_trajectory.h.

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

control_box_rst
Author(s): Christoph Rösmann
autogenerated on Mon Feb 28 2022 22:08:03