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 start_time, Real duration, const TrajState &initial_state, Real jerk)
	Generate constant jerk trajectory.
TrajState	evaluate (Real t_eval) const override final
	Evaluate segment trajectory.
TrajState	get_final_state () const override final
	Get final state of segment.
TrajState	get_initial_state () const override final
	Get initial state of segment.
Real	get_start_time () const override final
	Get start time of segment.
Real	get_duration () const override final
	Get duration.
Real	get_final_time () const override final
	Get final time of segment.

Member Function Documentation

evaluate()

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

finaloverridevirtual

Evaluate segment trajectory.

Parameters

[in]

t_eval

Evaluation time

Returns

Current trajectory state

Implements fsb::Segment< TrajStateType >.

generate()

void fsb::SegmentConstJerk::generate	(	Real	start_time,
		Real	duration,
		const TrajState &	initial_state,
		Real	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 fsb::SegmentConstJerk::get_duration ( ) const

inlinefinaloverridevirtual

Get duration.

Returns

Duration of segment

Implements fsb::Segment< TrajStateType >.

get_final_state()

TrajState fsb::SegmentConstJerk::get_final_state ( ) const

inlinefinaloverridevirtual

Get final state of segment.

Returns

Get final state at end of segment

Implements fsb::Segment< TrajStateType >.

get_final_time()

Real fsb::SegmentConstJerk::get_final_time ( ) const

inlinefinaloverridevirtual

Get final time of segment.

Returns

Final time

Implements fsb::Segment< TrajStateType >.

get_initial_state()

TrajState fsb::SegmentConstJerk::get_initial_state ( ) const

inlinefinaloverridevirtual

Get initial state of segment.

Returns

Initial state at start of segment

Implements fsb::Segment< TrajStateType >.

get_start_time()

Real fsb::SegmentConstJerk::get_start_time ( ) const

inlinefinaloverridevirtual

Get start time of segment.

Returns

Start time.

Implements fsb::Segment< TrajStateType >.

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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