fsb::CubicTrajectory Class Reference

Detailed Description

Cubic trajectory.

#include <fsb_cubic.h>

Inheritance diagram for fsb::CubicTrajectory:

Collaboration diagram for fsb::CubicTrajectory:

Public Member Functions
bool	generate (Real start_time, Real duration, const TrajState &initial_state, const TrajState &final_state)
	Generate spline.
void	set_coeffs (Real start_time, Real duration, const CubicCoeffs &coeffs)
	Set coefficients of the cubic trajectory.
TrajState	evaluate (Real t_eval) const override final
	Evaluate position, velocity, acceleration, and jerk.
TrajState	get_final_state () const override final
	Get final state of segment.
TrajState	get_initial_state () const override final
	Get initial state of segment.
Real	get_start_time () const override final
	Get start time of segment.
Real	get_duration () const override final
	Get total duration.
Real	get_final_time () const override final
	Get final time of trajectory.

Member Function Documentation

evaluate()

TrajState fsb::CubicTrajectory::evaluate ( Real  t_eval ) const

finaloverridevirtual

Evaluate position, velocity, acceleration, and jerk.

Parameters

[in]

t_eval

Time at which to evaluate the trajectory

Returns

Trajectory state containing position, velocity, acceleration, and jerk at t_eval

Implements fsb::Segment< TrajStateType >.

generate()

bool fsb::CubicTrajectory::generate	(	Real	start_time,
		Real	duration,
		const TrajState &	initial_state,
		const TrajState &	final_state
	)

Generate spline.

Parameters

[in]	start_time	Start time of the trajectory
[in]	duration	Duration of the trajectory
[in]	initial_state	Initial state of the trajectory
[in]	final_state	Final state of the trajectory

Returns

true if the spline was successfully generated, false otherwise

get_duration()

Real fsb::CubicTrajectory::get_duration ( ) const

inlinefinaloverridevirtual

Get total duration.

Returns

Total duration of trajectory

Implements fsb::Segment< TrajStateType >.

get_final_state()

TrajState fsb::CubicTrajectory::get_final_state ( ) const

inlinefinaloverridevirtual

Get final state of segment.

Returns

Get final state at end of segment

Implements fsb::Segment< TrajStateType >.

get_final_time()

Real fsb::CubicTrajectory::get_final_time ( ) const

inlinefinaloverridevirtual

Get final time of trajectory.

Returns

Final time

Implements fsb::Segment< TrajStateType >.

get_initial_state()

TrajState fsb::CubicTrajectory::get_initial_state ( ) const

inlinefinaloverridevirtual

Get initial state of segment.

Returns

Get initial state at start of segment

Implements fsb::Segment< TrajStateType >.

get_start_time()

Real fsb::CubicTrajectory::get_start_time ( ) const

inlinefinaloverridevirtual

Get start time of segment.

Returns

Start time.

Implements fsb::Segment< TrajStateType >.

set_coeffs()

void fsb::CubicTrajectory::set_coeffs	(	Real	start_time,
		Real	duration,
		const CubicCoeffs &	coeffs
	)

Set coefficients of the cubic trajectory.

Parameters

[in]	start_time	Start time of the trajectory
[in]	duration	Duration of the trajectory
[in]	coeffs	Coefficients of the cubic polynomial

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The documentation for this class was generated from the following file:

• fsb-core/include/fsb_cubic.h