fsb::Spline< MaxPoints > Class Template Reference

Inheritance diagram for fsb::Spline< MaxPoints >:

Collaboration diagram for fsb::Spline< MaxPoints >:

Public Member Functions
template<size_t NumPoints>
SplineError	generate (const Real step_size, const std::array< Real, NumPoints > &points, const SplineEndCondition end_condition=SplineEndCondition::Natural, const Real start_slope=0.0, const Real end_slope=0.0)
TrajState	evaluate (Real t_eval) const override
	Evaluate the segment at a given time.
TrajState	get_final_state () const override
	Get final state of the segment.
TrajState	get_initial_state () const override
	Get initial state of the segment.
Real	get_start_time () const override
	Get start time of the segment.
Real	get_duration () const override
	Get duration of the segment.
Real	get_final_time () const override
	Get final time of the segment.

Member Function Documentation

evaluate()

template<size_t MaxPoints>

TrajState fsb::Spline< MaxPoints >::evaluate ( Real  t_eval ) const

inlineoverridevirtual

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.

Implements fsb::Segment< TrajStateType >.

get_duration()

template<size_t MaxPoints>

Real fsb::Spline< MaxPoints >::get_duration ( ) const

inlineoverridevirtual

Get duration of the segment.

Returns

Duration.

Implements fsb::Segment< TrajStateType >.

get_final_state()

template<size_t MaxPoints>

TrajState fsb::Spline< MaxPoints >::get_final_state ( ) const

inlineoverridevirtual

Get final state of the segment.

Returns

Final state at the end of the segment.

Implements fsb::Segment< TrajStateType >.

get_final_time()

template<size_t MaxPoints>

Real fsb::Spline< MaxPoints >::get_final_time ( ) const

inlineoverridevirtual

Get final time of the segment.

Returns

Final time.

Implements fsb::Segment< TrajStateType >.

get_initial_state()

template<size_t MaxPoints>

TrajState fsb::Spline< MaxPoints >::get_initial_state ( ) const

inlineoverridevirtual

Get initial state of the segment.

Returns

Initial state at the beginning of the segment.

Implements fsb::Segment< TrajStateType >.

get_start_time()

template<size_t MaxPoints>

Real fsb::Spline< MaxPoints >::get_start_time ( ) const

inlineoverridevirtual

Get start time of the segment.

Returns

Start time.

Implements fsb::Segment< TrajStateType >.

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

• fsb-core/include/fsb_spline.h