fsb::SegmentConstJerk Class Reference

Detailed Description

Constant jerk profile.

#include <fsb_trajectory_segment.h>

Inheritance diagram for fsb::SegmentConstJerk:

Collaboration diagram for fsb::SegmentConstJerk:

Public Member Functions
void	generate (real_t start_time, real_t duration, const TrajState &initial_state, real_t jerk)
	Generate constant jerk trajectory.
TrajState	evaluate (real_t t_eval) const override
	Evaluate segment trajectory.
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 duration.
real_t	get_final_time () const override
	Get final time of segment.

Member Function Documentation

evaluate()

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

overridevirtual

Evaluate segment trajectory.

Parameters

[in]

t_eval

Evaluation time

Returns

Current trajectory state

Implements fsb::Segment.

generate()

void fsb::SegmentConstJerk::generate	(	real_t	start_time,
		real_t	duration,
		const TrajState &	initial_state,
		real_t	jerk
	)

Generate constant jerk trajectory.

Parameters

[in]	start_time	Start time
[in]	duration	Segment duration
[in]	initial_state	Initial state of trajectory
[in]	jerk	Constant jerk constraint

get_duration()

real_t fsb::SegmentConstJerk::get_duration ( ) const

inlineoverridevirtual

Get duration.

Returns

Duration of segment

Implements fsb::SegmentBase.

get_final_state()

TrajState fsb::SegmentConstJerk::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::SegmentConstJerk::get_final_time ( ) const

inlineoverridevirtual

Get final time of segment.

Returns

Final time

Implements fsb::SegmentBase.

get_start_time()

real_t fsb::SegmentConstJerk::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_trajectory_segment.h
• fsb-core/src/fsb_trajectory_segment.cpp