All Classes Namespaces Files Functions Variables Typedefs Macros
Public Member Functions | Protected Member Functions | Protected Attributes | List of all members
dynamicgraph::sot::tools::CubicInterpolation Class Reference

#include <cubic-interpolation.hh>

Inheritance diagram for dynamicgraph::sot::tools::CubicInterpolation:
[legend]
Collaboration diagram for dynamicgraph::sot::tools::CubicInterpolation:
[legend]

Public Member Functions

virtual ~CubicInterpolation ()
 
 CubicInterpolation (const std::string &name)
 
void start (const double &duration)
 Start tracking. More...
 
void reset ()
 Reset state to 0 before starting a new motion. More...
 
virtual std::string getDocString () const
 Documentation. More...
 
void setSamplingPeriod (const double &period)
 Set sampling period of control discretization. More...
 

Protected Member Functions

virtual void doStart (const double &duration)
 
Vector & computeSout (Vector &sout, const int &inTime)
 
Vector & computeSoutdot (Vector &sout, const int &inTime)
 

Protected Attributes

dynamicgraph::Signal< Vector, int > soutSOUT_
 
dynamicgraph::Signal< Vector, int > soutdotSOUT_
 
dynamicgraph::SignalPtr
< Vector, int > 		initSIN_
 
dynamicgraph::SignalPtr
< Vector, int > 		goalSIN_
 
int startTime_
 
double samplingPeriod_
 
double duration_
 
unsigned state_
 
Vector p0_
 
Vector p1_
 
Vector p2_
 
Vector p3_
 

Constructor & Destructor Documentation

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

References computeSout(), computeSoutdot(), goalSIN_, initSIN_, reset(), setSamplingPeriod(), soutdotSOUT_, soutSOUT_, and start().

Member Function Documentation

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

References duration_, goalSIN_, initSIN_, p0_, p1_, p2_, p3_, samplingPeriod_, startTime_, and state_.

Referenced by CubicInterpolation().

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

References duration_, initSIN_, p1_, p2_, p3_, samplingPeriod_, startTime_, and state_.

Referenced by CubicInterpolation().

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

References duration_, goalSIN_, initSIN_, p0_, p1_, p2_, p3_, samplingPeriod_, soutSOUT_, startTime_, and state_.

Referenced by start().

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

Documentation.

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

Reset state to 0 before starting a new motion.

References state_.

Referenced by CubicInterpolation().

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

Set sampling period of control discretization.

References samplingPeriod_.

Referenced by CubicInterpolation().

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

Start tracking.

References doStart().

Referenced by CubicInterpolation().

Member Data Documentation

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

Referenced by computeSout(), computeSoutdot(), and doStart().

dynamicgraph::SignalPtr< Vector, int > dynamicgraph::sot::tools::CubicInterpolation::goalSIN_
protected

Referenced by computeSout(), CubicInterpolation(), and doStart().

dynamicgraph::SignalPtr< Vector, int > dynamicgraph::sot::tools::CubicInterpolation::initSIN_
protected

Referenced by computeSout(), computeSoutdot(), CubicInterpolation(), and doStart().

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

Referenced by computeSout(), and doStart().

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

Referenced by computeSout(), computeSoutdot(), and doStart().

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

Referenced by computeSout(), computeSoutdot(), and doStart().

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

Referenced by computeSout(), computeSoutdot(), and doStart().

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

Referenced by computeSout(), computeSoutdot(), doStart(), and setSamplingPeriod().

dynamicgraph::Signal< Vector, int > dynamicgraph::sot::tools::CubicInterpolation::soutdotSOUT_
protected

Referenced by CubicInterpolation().

dynamicgraph::Signal< Vector, int > dynamicgraph::sot::tools::CubicInterpolation::soutSOUT_
protected

Referenced by CubicInterpolation(), and doStart().

int dynamicgraph::sot::tools::CubicInterpolation::startTime_
protected

Referenced by computeSout(), computeSoutdot(), and doStart().

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

Referenced by computeSout(), computeSoutdot(), doStart(), and reset().