Creates InfiniteSinusoid curve The sinusoid is actually a cosine so that it starts with zero velocity. Returns x = x_init + A*cos(2*pi*f*t) where f is give by 1/(2*traj_time) More...
#include <parametric-curves/infinite-sinusoid.hpp>
Public Types | |
typedef Point | point_t |
typedef Numeric | time_t |
typedef Numeric | num_t |
typedef AbstractCurve< Numeric, Point > | curve_abc_t |
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typedef Point | point_t |
typedef Numeric | time_t |
typedef Numeric | num_t |
Public Member Functions | |
InfiniteSinusoid (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. More... | |
~InfiniteSinusoid () | |
Destructor. More... | |
virtual const point_t | operator() (const time_t &t) const |
Evaluation of the cubic spline at time t. More... | |
virtual const point_t | derivate (const time_t &t, const std::size_t &order) const |
Evaluation of the derivative spline at time t. More... | |
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_) |
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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 |
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time_t | t_min |
time_t | t_max |
Creates InfiniteSinusoid curve The sinusoid is actually a cosine so that it starts with zero velocity. Returns x = x_init + A*cos(2*pi*f*t) where f is give by 1/(2*traj_time)
typedef AbstractCurve<Numeric, Point> parametriccurves::InfiniteSinusoid< Numeric, Dim, Point >::curve_abc_t |
typedef Numeric parametriccurves::InfiniteSinusoid< Numeric, Dim, Point >::num_t |
typedef Point parametriccurves::InfiniteSinusoid< Numeric, Dim, Point >::point_t |
typedef Numeric parametriccurves::InfiniteSinusoid< Numeric, Dim, Point >::time_t |
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Constructor.
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Destructor.
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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 >.
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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 >.
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inlinevirtual |
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inlinevirtual |
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inlinevirtual |
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inlinevirtual |
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inlinevirtual |
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protected |
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