#include <cubic-interpolation-se3.hh>
Public Member Functions | |
virtual | ~CubicInterpolationSE3 () |
CubicInterpolationSE3 (const std::string &name) | |
void | start (const double &duration) |
Start tracking. | |
void | reset () |
Reset state to 0 before starting a new motion. | |
virtual std::string | getDocString () const |
Documentation. | |
void | setSamplingPeriod (const double &period) |
Set sampling period of control discretization. | |
Protected Member Functions | |
virtual void | doStart (const double &duration) |
MatrixHomogeneous & | computeSout (MatrixHomogeneous &sout, const int &inTime) |
Protected Attributes | |
dynamicgraph::Signal < MatrixHomogeneous, int > | soutSOUT_ |
dynamicgraph::Signal< Vector, int > | soutdotSOUT_ |
dynamicgraph::SignalPtr < MatrixHomogeneous, int > | initSIN_ |
dynamicgraph::SignalPtr < MatrixHomogeneous, int > | goalSIN_ |
int | startTime_ |
double | samplingPeriod_ |
double | duration_ |
unsigned | state_ |
Vector | p0_ |
Vector | p1_ |
Vector | p2_ |
Vector | p3_ |
Vector | position_ |
Vector | soutdot_ |
dynamicgraph::sot::tools::CubicInterpolationSE3::~CubicInterpolationSE3 | ( | ) | [virtual] |
dynamicgraph::sot::tools::CubicInterpolationSE3::CubicInterpolationSE3 | ( | const std::string & | name | ) |
References computeSout(), goalSIN_, initSIN_, reset(), setSamplingPeriod(), soutdot_, soutdotSOUT_, soutSOUT_, and start().
MatrixHomogeneous& dynamicgraph::sot::tools::CubicInterpolationSE3::computeSout | ( | MatrixHomogeneous & | sout, |
const int & | inTime | ||
) | [protected] |
Referenced by CubicInterpolationSE3().
void dynamicgraph::sot::tools::CubicInterpolationSE3::doStart | ( | const double & | duration | ) | [protected, virtual] |
std::string dynamicgraph::sot::tools::CubicInterpolationSE3::getDocString | ( | ) | const [virtual] |
Documentation.
void dynamicgraph::sot::tools::CubicInterpolationSE3::reset | ( | ) |
Reset state to 0 before starting a new motion.
References state_.
Referenced by CubicInterpolationSE3().
void dynamicgraph::sot::tools::CubicInterpolationSE3::setSamplingPeriod | ( | const double & | period | ) |
Set sampling period of control discretization.
References samplingPeriod_.
Referenced by CubicInterpolationSE3().
void dynamicgraph::sot::tools::CubicInterpolationSE3::start | ( | const double & | duration | ) |
double dynamicgraph::sot::tools::CubicInterpolationSE3::duration_ [protected] |
Referenced by dynamicgraph::sot::tools::CubicInterpolation::computeSout(), and doStart().
dynamicgraph::SignalPtr< MatrixHomogeneous, int > dynamicgraph::sot::tools::CubicInterpolationSE3::goalSIN_ [protected] |
Referenced by dynamicgraph::sot::tools::CubicInterpolation::computeSout(), CubicInterpolationSE3(), and doStart().
dynamicgraph::SignalPtr< MatrixHomogeneous, int > dynamicgraph::sot::tools::CubicInterpolationSE3::initSIN_ [protected] |
Referenced by dynamicgraph::sot::tools::CubicInterpolation::computeSout(), CubicInterpolationSE3(), and doStart().
Vector dynamicgraph::sot::tools::CubicInterpolationSE3::p0_ [protected] |
Referenced by dynamicgraph::sot::tools::CubicInterpolation::computeSout(), and doStart().
Vector dynamicgraph::sot::tools::CubicInterpolationSE3::p1_ [protected] |
Referenced by dynamicgraph::sot::tools::CubicInterpolation::computeSout(), and doStart().
Vector dynamicgraph::sot::tools::CubicInterpolationSE3::p2_ [protected] |
Referenced by dynamicgraph::sot::tools::CubicInterpolation::computeSout(), and doStart().
Vector dynamicgraph::sot::tools::CubicInterpolationSE3::p3_ [protected] |
Referenced by dynamicgraph::sot::tools::CubicInterpolation::computeSout(), and doStart().
Vector dynamicgraph::sot::tools::CubicInterpolationSE3::position_ [protected] |
Referenced by dynamicgraph::sot::tools::CubicInterpolation::computeSout().
double dynamicgraph::sot::tools::CubicInterpolationSE3::samplingPeriod_ [protected] |
Referenced by dynamicgraph::sot::tools::CubicInterpolation::computeSout(), doStart(), and setSamplingPeriod().
Vector dynamicgraph::sot::tools::CubicInterpolationSE3::soutdot_ [protected] |
Referenced by dynamicgraph::sot::tools::CubicInterpolation::computeSout(), and CubicInterpolationSE3().
dynamicgraph::Signal< Vector, int > dynamicgraph::sot::tools::CubicInterpolationSE3::soutdotSOUT_ [protected] |
Referenced by dynamicgraph::sot::tools::CubicInterpolation::computeSout(), and CubicInterpolationSE3().
dynamicgraph::Signal< MatrixHomogeneous, int > dynamicgraph::sot::tools::CubicInterpolationSE3::soutSOUT_ [protected] |
Referenced by CubicInterpolationSE3(), and doStart().
int dynamicgraph::sot::tools::CubicInterpolationSE3::startTime_ [protected] |
Referenced by dynamicgraph::sot::tools::CubicInterpolation::computeSout(), and doStart().
unsigned dynamicgraph::sot::tools::CubicInterpolationSE3::state_ [protected] |
Referenced by dynamicgraph::sot::tools::CubicInterpolation::computeSout(), doStart(), and reset().