Drake
PiecewiseFunction Class Referenceabstract

#include <common/trajectories/piecewise_function.h>

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Public Member Functions

 PiecewiseFunction (std::vector< double > const &breaks)
 
virtual ~PiecewiseFunction ()
 
virtual Eigen::Index rows () const =0
 
virtual Eigen::Index cols () const =0
 
int getNumberOfSegments () const
 
double getStartTime (int segment_number) const
 
double getEndTime (int segment_number) const
 
double getDuration (int segment_number) const
 
double getStartTime () const
 
double getEndTime () const
 
bool isTimeInRange (double t) const
 Returns true iff t >= getStartTime() && t <= getEndTime(). More...
 
int getSegmentIndex (double t) const
 
const std::vector< double > & getSegmentTimes () const
 
void segmentNumberRangeCheck (int segment_number) const
 

Static Public Member Functions

static std::vector< doublerandomSegmentTimes (int num_segments, std::default_random_engine &generator)
 

Static Public Attributes

static constexpr double kEpsilonTime = 1e-10
 Minimum delta quantity used for comparing time. More...
 

Protected Member Functions

bool segmentTimesEqual (const PiecewiseFunction &b, double tol=kEpsilonTime) const
 
void checkScalarValued () const
 
 PiecewiseFunction ()
 

Protected Attributes

std::vector< doublebreaks
 

Constructor & Destructor Documentation

PiecewiseFunction ( std::vector< double > const &  breaks)
explicit
Exceptions
std::runtime_exceptionif breaks increments are smaller than kEpsilonTime.

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~PiecewiseFunction ( )
virtual
PiecewiseFunction ( )
protected

Member Function Documentation

void checkScalarValued ( ) const
protected

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virtual Eigen::Index cols ( ) const
pure virtual
double getDuration ( int  segment_number) const

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double getEndTime ( int  segment_number) const

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double getEndTime ( ) const

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int getNumberOfSegments ( ) const

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int getSegmentIndex ( double  t) const

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const std::vector< double > & getSegmentTimes ( ) const

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double getStartTime ( int  segment_number) const

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double getStartTime ( ) const

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bool isTimeInRange ( double  t) const

Returns true iff t >= getStartTime() && t <= getEndTime().

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std::vector< double > randomSegmentTimes ( int  num_segments,
std::default_random_engine &  generator 
)
static

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virtual Eigen::Index rows ( ) const
pure virtual
void segmentNumberRangeCheck ( int  segment_number) const

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bool segmentTimesEqual ( const PiecewiseFunction b,
double  tol = kEpsilonTime 
) const
protected

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Member Data Documentation

std::vector<double> breaks
protected
constexpr double kEpsilonTime = 1e-10
static

Minimum delta quantity used for comparing time.


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