fsb::Segment< TrajStateType > Class Template Reference

Detailed Description

template<typename TrajStateType>
class fsb::Segment< TrajStateType >

Abstract class for segments.

#include <fsb_trajectory_types.h>

Inheritance diagram for fsb::Segment< TrajStateType >:

Collaboration diagram for fsb::Segment< TrajStateType >:

Public Member Functions
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.
virtual TrajStateType	evaluate (Real t_eval) const =0
	Evaluate the segment at a given time.
virtual TrajStateType	get_final_state () const =0
	Get final state of the segment.
virtual TrajStateType	get_initial_state () const =0
	Get initial state of the segment.

Member Function Documentation

evaluate()

template<typename TrajStateType >

virtual TrajStateType fsb::Segment< TrajStateType >::evaluate ( Real  t_eval ) const

pure virtual

Evaluate the segment at a given time.

Parameters

[in]

t_eval

Time at which to evaluate the segment.

Returns

Trajectory state at the given time.

Implemented in fsb::Spline< MaxPoints >, fsb::CubicTrajectory, fsb::Quintic, fsb::SegmentConstJerk, fsb::SegmentConstAcc, fsb::SegmentConstVel, fsb::TrapezoidalPosition, and fsb::TrapezoidalVelocity.

get_duration()

template<typename TrajStateType >

virtual Real fsb::Segment< TrajStateType >::get_duration ( ) const

pure virtual

Get duration of the segment.

Returns

Duration.

Implemented in fsb::Spline< MaxPoints >, fsb::CubicTrajectory, fsb::Quintic, fsb::SegmentConstJerk, fsb::SegmentConstAcc, fsb::SegmentConstVel, fsb::TrapezoidalPosition, and fsb::TrapezoidalVelocity.

get_final_state()

template<typename TrajStateType >

virtual TrajStateType fsb::Segment< TrajStateType >::get_final_state ( ) const

pure virtual

Get final state of the segment.

Returns

Final state at the end of the segment.

Implemented in fsb::Spline< MaxPoints >, fsb::CubicTrajectory, fsb::Quintic, fsb::SegmentConstJerk, fsb::SegmentConstAcc, fsb::SegmentConstVel, fsb::TrapezoidalPosition, and fsb::TrapezoidalVelocity.

get_final_time()

template<typename TrajStateType >

virtual Real fsb::Segment< TrajStateType >::get_final_time ( ) const

pure virtual

Get final time of the segment.

Returns

Final time.

Implemented in fsb::Spline< MaxPoints >, fsb::CubicTrajectory, fsb::Quintic, fsb::SegmentConstJerk, fsb::SegmentConstAcc, fsb::SegmentConstVel, fsb::TrapezoidalPosition, and fsb::TrapezoidalVelocity.

get_initial_state()

template<typename TrajStateType >

virtual TrajStateType fsb::Segment< TrajStateType >::get_initial_state ( ) const

pure virtual

Get initial state of the segment.

Returns

Initial state at the beginning of the segment.

Implemented in fsb::Spline< MaxPoints >, fsb::CubicTrajectory, fsb::Quintic, fsb::SegmentConstJerk, fsb::SegmentConstAcc, fsb::SegmentConstVel, fsb::TrapezoidalPosition, and fsb::TrapezoidalVelocity.

get_start_time()

template<typename TrajStateType >

virtual Real fsb::Segment< TrajStateType >::get_start_time ( ) const

pure virtual

Get start time of the segment.

Returns

Start time.

Implemented in fsb::Spline< MaxPoints >, fsb::CubicTrajectory, fsb::Quintic, fsb::SegmentConstJerk, fsb::SegmentConstAcc, fsb::SegmentConstVel, fsb::TrapezoidalPosition, and fsb::TrapezoidalVelocity.

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

• fsb-core/include/fsb_trajectory_types.h