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. More...
#include <parametric-curves/linear-chirp.hpp>
Public Types | |
typedef Point | point_t |
typedef Point | freq_t |
typedef Point | phase_t |
typedef Numeric | time_t |
typedef Numeric | num_t |
typedef AbstractCurve< Numeric, Point > | curve_abc_t |
![]() | |
typedef Point | point_t |
typedef Numeric | time_t |
typedef Numeric | num_t |
Public Member Functions | |
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. | |
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()) | |
~LinearChirp () | |
Destructor. | |
virtual const point_t | operator() (const time_t &t) const |
Evaluation of the cubic spline at time t. | |
virtual const point_t | derivate (const time_t &t, const std::size_t &order) const |
Evaluation of the derivative spline at time t. | |
virtual bool | setInitialFrequency (const Eigen::VectorXd &f0_) |
virtual bool | setInitialFrequency (const double &f0_) |
virtual bool | setFinalFrequency (const Eigen::VectorXd &f1_) |
virtual bool | setFinalFrequency (const double &f1_) |
virtual bool | setInitialPoint (const point_t &x_init_) |
virtual bool | setInitialPoint (const double &x_init_) |
virtual bool | setFinalPoint (const Eigen::VectorXd &x_final_) |
virtual bool | setFinalPoint (const double &x_final_) |
![]() | |
AbstractCurve (time_t t_min_, time_t t_max_) | |
AbstractCurve () | |
virtual | ~AbstractCurve () |
virtual const time_t | tmin () const |
virtual const time_t | tmax () const |
virtual bool | checkRange (const time_t t) const |
virtual bool | setInitialPoint (const num_t &)=0 |
virtual bool | setTimePeriod (const time_t &traj_time_) |
Protected Attributes | |
freq_t | f0 |
freq_t | f1 |
initial frequency | |
point_t | x_init |
final frequency | |
point_t | x_final |
![]() | |
time_t | t_min |
time_t | t_max |
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.
typedef AbstractCurve<Numeric, Point> parametriccurves::LinearChirp< Numeric, Dim, Point >::curve_abc_t |
typedef Point parametriccurves::LinearChirp< Numeric, Dim, Point >::freq_t |
typedef Numeric parametriccurves::LinearChirp< Numeric, Dim, Point >::num_t |
typedef Point parametriccurves::LinearChirp< Numeric, Dim, Point >::phase_t |
typedef Point parametriccurves::LinearChirp< Numeric, Dim, Point >::point_t |
typedef Numeric parametriccurves::LinearChirp< Numeric, Dim, Point >::time_t |
|
inline |
Constructor.
|
inline |
|
inline |
Destructor.
|
inlinevirtual |
Evaluation of the derivative spline at time t.
t | : the time when to evaluate the spline |
order | : order of the derivative |
return | : the value x(t) |
Implements parametriccurves::AbstractCurve< Numeric, Point >.
|
inlinevirtual |
Evaluation of the cubic spline at time t.
t | : the time when to evaluate the spine |
return | : the value x(t) |
Implements parametriccurves::AbstractCurve< Numeric, Point >.
|
inlinevirtual |
|
inlinevirtual |
|
inlinevirtual |
|
inlinevirtual |
|
inlinevirtual |
|
inlinevirtual |
|
inlinevirtual |
|
inlinevirtual |
|
protected |
|
protected |
initial frequency
|
protected |
|
protected |
final frequency