Loading...
Searching...
No Matches
Public Types | Public Member Functions | Protected Attributes | List of all members
parametriccurves::InfiniteConstAcc< Numeric, Dim, Point > Class Template Reference

Creates InfiniteConstAcc curve s = s_0 + u_0*t+0.5*a_0*t^2. More...

#include <parametric-curves/infinite-const-acc.hpp>

Inheritance diagram for parametriccurves::InfiniteConstAcc< Numeric, Dim, Point >:
Inheritance graph
[legend]
Collaboration diagram for parametriccurves::InfiniteConstAcc< Numeric, Dim, Point >:
Collaboration graph
[legend]

Public Types

typedef Point point_t
 
typedef Numeric time_t
 
typedef Numeric num_t
 
typedef AbstractCurve< Numeric, Point > curve_abc_t
 
- Public Types inherited from parametriccurves::AbstractCurve< Numeric, Point >
typedef Point point_t
 
typedef Numeric time_t
 
typedef Numeric num_t
 

Public Member Functions

 InfiniteConstAcc (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.
 
 ~InfiniteConstAcc ()
 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 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_)
 
virtual bool setTrajectoryTime (double traj_time_)
 
- Public Member Functions inherited from parametriccurves::AbstractCurve< Numeric, Point >
 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

point_t x_init
 
point_t x_final
 
time_t traj_time
 
- Protected Attributes inherited from parametriccurves::AbstractCurve< Numeric, Point >
time_t t_min
 
time_t t_max
 

Detailed Description

template<typename Numeric = double, Eigen::Index Dim = 1, typename Point = Eigen::Matrix<Numeric, Dim, 1>>
class parametriccurves::InfiniteConstAcc< Numeric, Dim, Point >

Creates InfiniteConstAcc curve s = s_0 + u_0*t+0.5*a_0*t^2.

Member Typedef Documentation

◆ curve_abc_t

template<typename Numeric = double, Eigen::Index Dim = 1, typename Point = Eigen::Matrix<Numeric, Dim, 1>>
typedef AbstractCurve<Numeric, Point> parametriccurves::InfiniteConstAcc< Numeric, Dim, Point >::curve_abc_t

◆ num_t

template<typename Numeric = double, Eigen::Index Dim = 1, typename Point = Eigen::Matrix<Numeric, Dim, 1>>
typedef Numeric parametriccurves::InfiniteConstAcc< Numeric, Dim, Point >::num_t

◆ point_t

template<typename Numeric = double, Eigen::Index Dim = 1, typename Point = Eigen::Matrix<Numeric, Dim, 1>>
typedef Point parametriccurves::InfiniteConstAcc< Numeric, Dim, Point >::point_t

◆ time_t

template<typename Numeric = double, Eigen::Index Dim = 1, typename Point = Eigen::Matrix<Numeric, Dim, 1>>
typedef Numeric parametriccurves::InfiniteConstAcc< Numeric, Dim, Point >::time_t

Constructor & Destructor Documentation

◆ InfiniteConstAcc()

template<typename Numeric = double, Eigen::Index Dim = 1, typename Point = Eigen::Matrix<Numeric, Dim, 1>>
parametriccurves::InfiniteConstAcc< Numeric, Dim, Point >::InfiniteConstAcc ( 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() )
inline

Constructor.

◆ ~InfiniteConstAcc()

template<typename Numeric = double, Eigen::Index Dim = 1, typename Point = Eigen::Matrix<Numeric, Dim, 1>>
parametriccurves::InfiniteConstAcc< Numeric, Dim, Point >::~InfiniteConstAcc ( )
inline

Destructor.

Member Function Documentation

◆ derivate()

template<typename Numeric = double, Eigen::Index Dim = 1, typename Point = Eigen::Matrix<Numeric, Dim, 1>>
virtual const point_t parametriccurves::InfiniteConstAcc< Numeric, Dim, Point >::derivate ( const time_t & t,
const std::size_t & order ) const
inlinevirtual

Evaluation of the derivative spline at time t.

Parameters
t: the time when to evaluate the spline
order: order of the derivative
return: the value x(t)

Implements parametriccurves::AbstractCurve< Numeric, Point >.

◆ operator()()

template<typename Numeric = double, Eigen::Index Dim = 1, typename Point = Eigen::Matrix<Numeric, Dim, 1>>
virtual const point_t parametriccurves::InfiniteConstAcc< Numeric, Dim, Point >::operator() ( const time_t & t) const
inlinevirtual

Evaluation of the cubic spline at time t.

Parameters
t: the time when to evaluate the spine
return: the value x(t)

Implements parametriccurves::AbstractCurve< Numeric, Point >.

◆ setFinalPoint() [1/2]

template<typename Numeric = double, Eigen::Index Dim = 1, typename Point = Eigen::Matrix<Numeric, Dim, 1>>
virtual bool parametriccurves::InfiniteConstAcc< Numeric, Dim, Point >::setFinalPoint ( const double & x_final_)
inlinevirtual

◆ setFinalPoint() [2/2]

template<typename Numeric = double, Eigen::Index Dim = 1, typename Point = Eigen::Matrix<Numeric, Dim, 1>>
virtual bool parametriccurves::InfiniteConstAcc< Numeric, Dim, Point >::setFinalPoint ( const Eigen::VectorXd & x_final_)
inlinevirtual

◆ setInitialPoint() [1/2]

template<typename Numeric = double, Eigen::Index Dim = 1, typename Point = Eigen::Matrix<Numeric, Dim, 1>>
virtual bool parametriccurves::InfiniteConstAcc< Numeric, Dim, Point >::setInitialPoint ( const double & x_init_)
inlinevirtual

◆ setInitialPoint() [2/2]

template<typename Numeric = double, Eigen::Index Dim = 1, typename Point = Eigen::Matrix<Numeric, Dim, 1>>
virtual bool parametriccurves::InfiniteConstAcc< Numeric, Dim, Point >::setInitialPoint ( const point_t & x_init_)
inlinevirtual

Implements parametriccurves::AbstractCurve< Numeric, Point >.

◆ setTrajectoryTime()

template<typename Numeric = double, Eigen::Index Dim = 1, typename Point = Eigen::Matrix<Numeric, Dim, 1>>
virtual bool parametriccurves::InfiniteConstAcc< Numeric, Dim, Point >::setTrajectoryTime ( double traj_time_)
inlinevirtual

Member Data Documentation

◆ traj_time

template<typename Numeric = double, Eigen::Index Dim = 1, typename Point = Eigen::Matrix<Numeric, Dim, 1>>
time_t parametriccurves::InfiniteConstAcc< Numeric, Dim, Point >::traj_time
protected

◆ x_final

template<typename Numeric = double, Eigen::Index Dim = 1, typename Point = Eigen::Matrix<Numeric, Dim, 1>>
point_t parametriccurves::InfiniteConstAcc< Numeric, Dim, Point >::x_final
protected

◆ x_init

template<typename Numeric = double, Eigen::Index Dim = 1, typename Point = Eigen::Matrix<Numeric, Dim, 1>>
point_t parametriccurves::InfiniteConstAcc< Numeric, Dim, Point >::x_init
protected
The documentation for this class was generated from the following file: