humoto::rigidbody::CubicPolynomial1D Class Reference

Detailed Description

Class interpolating simple 1D cubic polynomial between two 1D points. Use this class to build more complex trajectories.

f(t) = a0 + a1 t + a2 t^2 + a3 t^3

Definition at line 41 of file cubic_polynomial.h.

#include <cubic_polynomial.h>

Public Member Functions
	CubicPolynomial1D ()
	Constructor. More...
double	eval (const double t, const TrajectoryEvaluationType::Type trajectory_type) const
	Evaluate the spline at a point. More...
std::vector< double >	eval (const Eigen::VectorXd &time_points, const TrajectoryEvaluationType::Type trajectory_type) const
	Evaluate the polynomial at time_interval points. More...
double	getAcceleration (const double t) const
	Computes acceleration at the given time point. More...
double	getJerk () const
	Computes jerk. More...
double	getPosition (const double t) const
	Computes position at the given time point. More...
double	getVelocity (const double t) const
	Computes velocity at the given time point. More...
void	initialize (const double a, const double b)
	Builds cubic polynomial in t = [0, 1] with first derivative equal to 0 at both ends. More...
void	initialize (const double a, const double adot, const double b, const double bdot)
	Builds cubic polynomial in t = [0, 1] with first derivative not equal to 0 at ends. More...

Static Public Member Functions
static Eigen::VectorXd	scale (const Eigen::VectorXd &time_points)
	Scale vector. More...

Private Attributes
double	a0_
double	a1_
double	a2_
double	a3_

Constructor & Destructor Documentation

CubicPolynomial1D()

humoto::rigidbody::CubicPolynomial1D::CubicPolynomial1D ( )

inline

Constructor.

Definition at line 47 of file cubic_polynomial.h.

Member Function Documentation

eval() [1/2]

double humoto::rigidbody::CubicPolynomial1D::eval ( const double  t, const TrajectoryEvaluationType::Type  trajectory_type  ) const

inline

Evaluate the spline at a point.

Parameters

[in]	t	time point
[in]	trajectory_type	type of trajectory

Returns

evaluated sample

Definition at line 151 of file cubic_polynomial.h.

eval() [2/2]

std::vector<double> humoto::rigidbody::CubicPolynomial1D::eval ( const Eigen::VectorXd &  time_points, const TrajectoryEvaluationType::Type  trajectory_type  ) const

inline

Evaluate the polynomial at time_interval points.

Parameters

[in]	time_points	eigen vector with time instants at which we evaluate
[in]	trajectory_type	type of trajectory

Returns

std vector with evaluated samples

Definition at line 176 of file cubic_polynomial.h.

getAcceleration()

double humoto::rigidbody::CubicPolynomial1D::getAcceleration ( const double  t ) const

inline

Computes acceleration at the given time point.

Parameters

[in]

t

time

Returns

acceleration at the given time point

Definition at line 125 of file cubic_polynomial.h.

getJerk()

double humoto::rigidbody::CubicPolynomial1D::getJerk ( ) const

inline

Computes jerk.

Returns

jerk.

Definition at line 137 of file cubic_polynomial.h.

getPosition()

double humoto::rigidbody::CubicPolynomial1D::getPosition ( const double  t ) const

inline

Computes position at the given time point.

Parameters

[in]

t

time

Returns

position at the given time point

Definition at line 97 of file cubic_polynomial.h.

getVelocity()

double humoto::rigidbody::CubicPolynomial1D::getVelocity ( const double  t ) const

inline

Computes velocity at the given time point.

Parameters

[in]

t

time

Returns

velocity at the given time point

Definition at line 111 of file cubic_polynomial.h.

initialize() [1/2]

void humoto::rigidbody::CubicPolynomial1D::initialize ( const double  a, const double  b  )

inline

Builds cubic polynomial in t = [0, 1] with first derivative equal to 0 at both ends.

Parameters

[in]	a	initial position
[in]	b	final position

Definition at line 60 of file cubic_polynomial.h.

initialize() [2/2]

void humoto::rigidbody::CubicPolynomial1D::initialize ( const double  a, const double  adot, const double  b, const double  bdot  )

inline

Builds cubic polynomial in t = [0, 1] with first derivative not equal to 0 at ends.

Parameters

[in]	a	initial 1D position
[in]	adot	initial 1D velocity
[in]	b	final 1D position
[in]	bdot	final 1D velocity

Definition at line 78 of file cubic_polynomial.h.

scale()

static Eigen::VectorXd humoto::rigidbody::CubicPolynomial1D::scale ( const Eigen::VectorXd &  time_points )

inlinestatic

Scale vector.

Parameters

[in]

time_points

eigen vector

Returns

eigen vector of scaled values

Definition at line 197 of file cubic_polynomial.h.

Member Data Documentation

a0_

double humoto::rigidbody::CubicPolynomial1D::a0_

private

Definition at line 211 of file cubic_polynomial.h.

a1_

double humoto::rigidbody::CubicPolynomial1D::a1_

private

Definition at line 212 of file cubic_polynomial.h.

a2_

double humoto::rigidbody::CubicPolynomial1D::a2_

private

Definition at line 213 of file cubic_polynomial.h.

a3_

double humoto::rigidbody::CubicPolynomial1D::a3_

private

Definition at line 214 of file cubic_polynomial.h.

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

• core/include/rigid_body/cubic_polynomial.h