#include <cubic-interpolation.hh>

Inheritance diagram for dynamicgraph::sot::tools::CubicInterpolation:

Public Member Functions
	CubicInterpolation (const std::string &name)

virtual std::string	getDocString () const
	Documentation. More...

void	reset ()
	Reset state to 0 before starting a new motion. More...

void	setSamplingPeriod (const double &period)
	Set sampling period of control discretization. More...

void	start (const double &duration)
	Start tracking. More...

virtual	~CubicInterpolation ()

Public Member Functions inherited from dynamicgraph::Entity
virtual void	display (std::ostream &os) const

std::ostream &	displaySignalList (std::ostream &os) const

	Entity (const std::string &name)

virtual const std::string &	getClassName () const

const std::string &	getCommandList () const

LoggerVerbosity	getLoggerVerbosityLevel ()

LoggerVerbosity	getLoggerVerbosityLevel ()

const std::string &	getName () const

command::Command *	getNewStyleCommand (const std::string &cmdName)

CommandMap_t	getNewStyleCommandMap ()

SignalBase< sigtime_t > &	getSignal (const std::string &signalName)

const SignalBase< sigtime_t > &	getSignal (const std::string &signalName) const

SignalMap	getSignalMap () const

double	getStreamPrintPeriod ()

double	getStreamPrintPeriod ()

double	getTimeSample ()

double	getTimeSample ()

bool	hasSignal (const std::string &signame) const

Logger &	logger ()

Logger &	logger ()

const Logger &	logger () const

const Logger &	logger () const

void	sendMsg (const std::string &msg, MsgType t=MSG_TYPE_INFO, const std::string &lineId="")

void	sendMsg (const std::string &msg, MsgType t=MSG_TYPE_INFO, const std::string &lineId="")

void	setLoggerVerbosityLevel (LoggerVerbosity lv)

void	setLoggerVerbosityLevel (LoggerVerbosity lv)

bool	setStreamPrintPeriod (double t)

bool	setStreamPrintPeriod (double t)

bool	setTimeSample (double t)

bool	setTimeSample (double t)

virtual SignalBase< sigtime_t > *	test ()

virtual void	test2 (SignalBase< sigtime_t > *)

virtual std::ostream &	writeCompletionList (std::ostream &os) const

virtual std::ostream &	writeGraph (std::ostream &os) const

virtual	~Entity ()

Protected Member Functions
Vector &	computeSout (Vector &sout, const sigtime_t &inTime)

Vector &	computeSoutdot (Vector &sout, const sigtime_t &inTime)

virtual void	doStart (const double &duration)

Protected Member Functions inherited from dynamicgraph::Entity
void	addCommand (const std::string &name, command::Command *command)

void	entityDeregistration ()

void	entityRegistration ()

void	signalDeregistration (const std::string &name)

void	signalRegistration (const SignalArray< sigtime_t > &signals)

Protected Attributes
double	duration_

dynamicgraph::SignalPtr< Vector, sigtime_t >	goalSIN_

dynamicgraph::SignalPtr< Vector, sigtime_t >	initSIN_

Vector	p0_

Vector	p1_

Vector	p2_

Vector	p3_

double	samplingPeriod_

dynamicgraph::Signal< Vector, sigtime_t >	soutdotSOUT_

dynamicgraph::Signal< Vector, sigtime_t >	soutSOUT_

sigtime_t	startTime_

unsigned	state_

Protected Attributes inherited from dynamicgraph::Entity
CommandMap_t	commandMap

Logger	logger_

std::string	name

SignalMap	signalMap

Private Member Functions
	DYNAMIC_GRAPH_ENTITY_DECL ()

Additional Inherited Members
Public Types inherited from dynamicgraph::Entity
typedef std::map< const std::string, command::Command * >	CommandMap_t

typedef std::map< std::string, SignalBase< sigtime_t > * >	SignalMap

Detailed Description

Definition at line 18 of file cubic-interpolation.hh.

Constructor & Destructor Documentation

◆ ~CubicInterpolation()

dynamicgraph::sot::tools::CubicInterpolation::~CubicInterpolation ( )

virtual

Definition at line 70 of file cubic-interpolation.cc.

◆ CubicInterpolation()

dynamicgraph::sot::tools::CubicInterpolation::CubicInterpolation ( const std::string & name )

Definition at line 18 of file cubic-interpolation.cc.

Member Function Documentation

◆ computeSout()

Vector & dynamicgraph::sot::tools::CubicInterpolation::computeSout	(	Vector &	sout,
		const sigtime_t &	inTime
	)

protected

Definition at line 86 of file cubic-interpolation.cc.

◆ computeSoutdot()

Vector & dynamicgraph::sot::tools::CubicInterpolation::computeSoutdot	(	Vector &	sout,
		const sigtime_t &	inTime
	)

protected

Definition at line 107 of file cubic-interpolation.cc.

◆ doStart()

void dynamicgraph::sot::tools::CubicInterpolation::doStart ( const double & duration )

protectedvirtual

Definition at line 136 of file cubic-interpolation.cc.

◆ DYNAMIC_GRAPH_ENTITY_DECL()

dynamicgraph::sot::tools::CubicInterpolation::DYNAMIC_GRAPH_ENTITY_DECL ( )

private

◆ getDocString()

std::string dynamicgraph::sot::tools::CubicInterpolation::getDocString ( ) const

virtual

Documentation.

Reimplemented from dynamicgraph::Entity.

Definition at line 72 of file cubic-interpolation.cc.

◆ reset()

void dynamicgraph::sot::tools::CubicInterpolation::reset ( )

Reset state to 0 before starting a new motion.

Definition at line 84 of file cubic-interpolation.cc.

◆ setSamplingPeriod()

void dynamicgraph::sot::tools::CubicInterpolation::setSamplingPeriod ( const double & period )

Set sampling period of control discretization.

Definition at line 130 of file cubic-interpolation.cc.

◆ start()

void dynamicgraph::sot::tools::CubicInterpolation::start ( const double & duration )

Start tracking.

Definition at line 134 of file cubic-interpolation.cc.

Member Data Documentation

◆ duration_

double dynamicgraph::sot::tools::CubicInterpolation::duration_

protected

Definition at line 45 of file cubic-interpolation.hh.

◆ goalSIN_

dynamicgraph::SignalPtr<Vector, sigtime_t> dynamicgraph::sot::tools::CubicInterpolation::goalSIN_

protected

Definition at line 38 of file cubic-interpolation.hh.

◆ initSIN_

dynamicgraph::SignalPtr<Vector, sigtime_t> dynamicgraph::sot::tools::CubicInterpolation::initSIN_

protected

Definition at line 37 of file cubic-interpolation.hh.

◆ p0_

Vector dynamicgraph::sot::tools::CubicInterpolation::p0_

protected

Definition at line 49 of file cubic-interpolation.hh.

◆ p1_

Vector dynamicgraph::sot::tools::CubicInterpolation::p1_

protected

Definition at line 50 of file cubic-interpolation.hh.

◆ p2_

Vector dynamicgraph::sot::tools::CubicInterpolation::p2_

protected

Definition at line 51 of file cubic-interpolation.hh.

◆ p3_

Vector dynamicgraph::sot::tools::CubicInterpolation::p3_

protected

Definition at line 52 of file cubic-interpolation.hh.

◆ samplingPeriod_

double dynamicgraph::sot::tools::CubicInterpolation::samplingPeriod_

protected

Definition at line 44 of file cubic-interpolation.hh.

◆ soutdotSOUT_

dynamicgraph::Signal<Vector, sigtime_t> dynamicgraph::sot::tools::CubicInterpolation::soutdotSOUT_

protected

Definition at line 36 of file cubic-interpolation.hh.

◆ soutSOUT_

dynamicgraph::Signal<Vector, sigtime_t> dynamicgraph::sot::tools::CubicInterpolation::soutSOUT_

protected

Definition at line 35 of file cubic-interpolation.hh.

◆ startTime_

sigtime_t dynamicgraph::sot::tools::CubicInterpolation::startTime_

protected

Definition at line 43 of file cubic-interpolation.hh.

◆ state_

unsigned dynamicgraph::sot::tools::CubicInterpolation::state_

protected

Definition at line 47 of file cubic-interpolation.hh.

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

Public Member Functions

Protected Member Functions

Protected Attributes

Private Member Functions

Additional Inherited Members

Detailed Description

Constructor & Destructor Documentation

◆ ~CubicInterpolation()

◆ CubicInterpolation()

Member Function Documentation

◆ computeSout()

◆ computeSoutdot()

◆ doStart()

◆ DYNAMIC_GRAPH_ENTITY_DECL()

◆ getDocString()

◆ reset()

◆ setSamplingPeriod()

◆ start()

Member Data Documentation

◆ duration_

◆ goalSIN_

◆ initSIN_

◆ p0_

◆ p1_

◆ p2_

◆ p3_

◆ samplingPeriod_

◆ soutdotSOUT_

◆ soutSOUT_

◆ startTime_

◆ state_