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| LinearChirp (const time_t &traj_time_, const point_t &x_init_=Eigen::Matrix< Numeric, Dim, 1 >::Zero(), const point_t &x_final_=Eigen::Matrix< Numeric, Dim, 1 >::Zero()) |
| Constructor.
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| LinearChirp (const time_t &traj_time_, const freq_t &f0_, const freq_t &f1_, const point_t &x_init_=Eigen::Matrix< Numeric, Dim, 1 >::Zero(), const point_t &x_final_=Eigen::Matrix< Numeric, Dim, 1 >::Zero()) |
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| ~LinearChirp () |
| Destructor.
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virtual const point_t | operator() (const time_t &t) const |
| Evaluation of the cubic spline at time t.
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virtual const point_t | derivate (const time_t &t, const std::size_t &order) const |
| Evaluation of the derivative spline at time t.
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virtual bool | setInitialFrequency (const Eigen::VectorXd &f0_) |
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virtual bool | setInitialFrequency (const double &f0_) |
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virtual bool | setFinalFrequency (const Eigen::VectorXd &f1_) |
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virtual bool | setFinalFrequency (const double &f1_) |
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virtual bool | setInitialPoint (const point_t &x_init_) |
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virtual bool | setInitialPoint (const double &x_init_) |
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virtual bool | setFinalPoint (const Eigen::VectorXd &x_final_) |
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virtual bool | setFinalPoint (const double &x_final_) |
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| AbstractCurve (time_t t_min_, time_t t_max_) |
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| AbstractCurve () |
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virtual | ~AbstractCurve () |
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virtual const time_t | tmin () const |
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virtual const time_t | tmax () const |
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virtual bool | checkRange (const time_t t) const |
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virtual bool | setInitialPoint (const num_t &)=0 |
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virtual bool | setTimePeriod (const time_t &traj_time_) |
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template<
typename Numeric = double, Eigen::Index Dim = 1,
typename Point = Eigen::Matrix<Numeric, Dim, 1>>
class parametriccurves::LinearChirp< Numeric, Dim, Point >
Creates LinearChirp curve Linear chirp trajectory generator. A linear chirp is a sinusoid whose frequency is a linear function of time. In particular the frequency starts from a value f0 and it increases linearly up to a value f1. Then it goes back to f0 and the trajectory is ended.