dynamicgraph::sot::tools::CubicInterpolationSE3 Class Reference

#include <cubic-interpolation-se3.hh>

Inheritance diagram for dynamicgraph::sot::tools::CubicInterpolationSE3:
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Collaboration diagram for dynamicgraph::sot::tools::CubicInterpolationSE3:
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List of all members.

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_

Constructor & Destructor Documentation

dynamicgraph::sot::tools::CubicInterpolationSE3::~CubicInterpolationSE3 ( ) [virtual]
dynamicgraph::sot::tools::CubicInterpolationSE3::CubicInterpolationSE3 ( const std::string &  name)

Member Function Documentation

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)

Start tracking.

References doStart().

Referenced by CubicInterpolationSE3().


Member Data Documentation

dynamicgraph::Signal< MatrixHomogeneous, int > dynamicgraph::sot::tools::CubicInterpolationSE3::soutSOUT_ [protected]

Referenced by CubicInterpolationSE3(), and doStart().