fsb::PathSegment Class Reference

Inheritance diagram for fsb::PathSegment:

Collaboration diagram for fsb::PathSegment:

Public Member Functions
CartesianPva	evaluate (Real t_eval) const final
	Evaluate the segment at a given time.
CartesianPva	evaluate_path (const PathPva &displacement)
CartesianPva	get_final_state () const final
	Get final state of the segment.
Public Member Functions inherited from fsb::SegmentBase
virtual Real	get_start_time () const =0
	Get start time of the segment.
virtual Real	get_duration () const =0
	Get duration of the segment.
virtual Real	get_final_time () const =0
	Get final time of the segment.

Member Function Documentation

evaluate()

CartesianPva fsb::PathSegment::evaluate ( Real  t_eval ) const

finalvirtual

Evaluate the segment at a given time.

Parameters

[in]

t_eval

Time at which to evaluate the segment.

Returns

Cartesian position, velocity, and acceleration at the given time.

Implements fsb::Segment6.

evaluate_path()

CartesianPva fsb::PathSegment::evaluate_path

(

const PathPva &

displacement

)

Parameters

displacement

Position, velocity and acceleration along path

Returns

Cartesian pose, velocity, and acceleration at the given displacement along the path

get_final_state()

CartesianPva fsb::PathSegment::get_final_state ( ) const

finalvirtual

Get final state of the segment.

Returns

Final Cartesian position, velocity, and acceleration at the end of the segment.

Implements fsb::Segment6.

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

• fsb-core/include/fsb_trajectory_path.h