Drake
PiecewisePolynomialBase Class Referenceabstract

#include <common/trajectories/piecewise_polynomial_base.h>

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Public Member Functions

 PiecewisePolynomialBase (std::vector< double > const &breaks)
 
virtual ~PiecewisePolynomialBase ()
 
virtual int getSegmentPolynomialDegree (int segment_number, Eigen::Index row=0, Eigen::Index col=0) const =0
 
int getNumberOfCoefficients (int segment_number, Eigen::Index row=0, Eigen::Index col=0) const
 
int getTotalNumberOfCoefficients (Eigen::Index row=0, Eigen::Index col=0) const
 
- Public Member Functions inherited from PiecewiseFunction
 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
 

Protected Member Functions

 PiecewisePolynomialBase ()
 
- Protected Member Functions inherited from PiecewiseFunction
bool segmentTimesEqual (const PiecewiseFunction &b, double tol=kEpsilonTime) const
 
void checkScalarValued () const
 
 PiecewiseFunction ()
 

Additional Inherited Members

- Static Public Member Functions inherited from PiecewiseFunction
static std::vector< doublerandomSegmentTimes (int num_segments, std::default_random_engine &generator)
 
- Static Public Attributes inherited from PiecewiseFunction
static constexpr double kEpsilonTime = 1e-10
 Minimum delta quantity used for comparing time. More...
 
- Protected Attributes inherited from PiecewiseFunction
std::vector< doublebreaks
 

Constructor & Destructor Documentation

PiecewisePolynomialBase ( std::vector< double > const &  breaks)
explicit
PiecewisePolynomialBase ( )
protected

Member Function Documentation

int getNumberOfCoefficients ( int  segment_number,
Eigen::Index  row = 0,
Eigen::Index  col = 0 
) const

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virtual int getSegmentPolynomialDegree ( int  segment_number,
Eigen::Index  row = 0,
Eigen::Index  col = 0 
) const
pure virtual

Implemented in PiecewisePolynomial< CoefficientType >, PiecewisePolynomial< double >, PiecewisePolynomial< T >, and SplineInformation.

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int getTotalNumberOfCoefficients ( Eigen::Index  row = 0,
Eigen::Index  col = 0 
) const

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