fsb::Segment Class Reference

Detailed Description

Abstract class for scalar motion.

#include <fsb_trajectory_segment.h>

Inheritance diagram for fsb::Segment:

Collaboration diagram for fsb::Segment:

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

Member Function Documentation

evaluate()

virtual TrajState fsb::Segment::evaluate ( real_t  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::QuinticTrajectory, fsb::SegmentConstJerk, fsb::SegmentConstAcc, fsb::SegmentConstVel, and fsb::TrapezoidalVelocity.

get_final_state()

virtual TrajState fsb::Segment::get_final_state ( ) const

pure virtual

Get final state of the segment.

Returns

Final state at the end of the segment.

Implemented in fsb::QuinticTrajectory, fsb::SegmentConstJerk, fsb::SegmentConstAcc, fsb::SegmentConstVel, and fsb::TrapezoidalVelocity.

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

• fsb-core/include/fsb_trajectory_segment.h