fsb::QuinticTrajectory Class Reference

Detailed Description

Quintic trajectory.

#include <fsb_quintic.h>

Inheritance diagram for fsb::QuinticTrajectory:

Collaboration diagram for fsb::QuinticTrajectory:

Public Member Functions
bool	generate (real_t start_time, real_t duration, const TrajState &initial_state, const TrajState &final_state)
	Generate spline.
TrajState	evaluate (real_t t_eval) const override
	Evaluate position, velocity, acceleration, and jerk.
TrajState	get_final_state () const override
	Get final state of segment.
real_t	get_start_time () const override
	Get start time of segment.
real_t	get_duration () const override
	Get total duration.
real_t	get_final_time () const override
	Get final time of trajectory.

Member Function Documentation

evaluate()

TrajState fsb::QuinticTrajectory::evaluate ( real_t  t_eval ) const

overridevirtual

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.

generate()

bool fsb::QuinticTrajectory::generate	(	real_t	start_time,
		real_t	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_t fsb::QuinticTrajectory::get_duration ( ) const

inlineoverridevirtual

Get total duration.

Returns

Total duration of trajectory

Implements fsb::SegmentBase.

get_final_state()

TrajState fsb::QuinticTrajectory::get_final_state ( ) const

inlineoverridevirtual

Get final state of segment.

Returns

Get final state at end of segment

Implements fsb::Segment.

get_final_time()

real_t fsb::QuinticTrajectory::get_final_time ( ) const

inlineoverridevirtual

Get final time of trajectory.

Returns

Final time

Implements fsb::SegmentBase.

get_start_time()

real_t fsb::QuinticTrajectory::get_start_time ( ) const

inlineoverridevirtual

Get start time of segment.

Returns

Start time.

Implements fsb::SegmentBase.

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

• fsb-core/include/fsb_quintic.h
• fsb-core/src/fsb_quintic.cpp