Drake
PiecewisePolynomialTrajectory Class Reference

A PiecewisePolynomialTrajectory is a Trajectory that is represented by (implemented in terms of) a PiecewisePolynomial. More...

#include <drake/common/trajectories/piecewise_polynomial_trajectory.h>

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## Public Member Functions

PiecewisePolynomialTrajectory (const PiecewisePolynomial< double > &pp)
Construct a PiecewisePolynomialTrajectory from a PiecewisePolynomial. More...

std::unique_ptr< TrajectoryClone () const override

drake::MatrixX< doublevalue (double t) const override
Evaluate this PiecewisePolynomial at a particular time. More...

std::unique_ptr< Trajectoryderivative (int derivative_order=1) const override
Takes the derivative of this PiecewisePolynomialTrajectory. More...

Eigen::Index rows () const override

Eigen::Index cols () const override

double get_start_time () const override

double get_end_time () const override

const PiecewisePolynomial< double > & get_piecewise_polynomial () const

Public Member Functions inherited from Trajectory
virtual ~Trajectory ()

## Detailed Description

A PiecewisePolynomialTrajectory is a Trajectory that is represented by (implemented in terms of) a PiecewisePolynomial.

## Constructor & Destructor Documentation

 PiecewisePolynomialTrajectory ( const PiecewisePolynomial< double > & pp )
inlineexplicit

## Member Function Documentation

 std::unique_ptr Clone ( ) const
inlineoverridevirtual
Returns
A deep copy of this Trajectory.

Implements Trajectory.

 Eigen::Index cols ( ) const
inlineoverridevirtual
Returns
The number of columns of the output vector, which is also the number of columns in the PiecewisePolynomial.

Implements Trajectory.

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 std::unique_ptr derivative ( int derivative_order = 1 ) const
inlineoverridevirtual

Takes the derivative of this PiecewisePolynomialTrajectory.

Each segment of the returned PiecewisePolynomialTrajectory is the derivative of the segment in the original PiecewisePolynomialTrajectory.

Parameters
 derivative_order The number of times to take the derivative before returning.
Returns
The nth derivative of this object.

Implements Trajectory.

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 double get_end_time ( ) const
inlineoverridevirtual

Implements Trajectory.

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 const PiecewisePolynomial& get_piecewise_polynomial ( ) const
inline
Returns
A reference to the underlying piecewise polynomial.
 double get_start_time ( ) const
inlineoverridevirtual

Implements Trajectory.

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 Eigen::Index rows ( ) const
inlineoverridevirtual
Returns
The number of rows of the output vector, which is also the number of rows in the PiecewisePolynomial.

Implements Trajectory.

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 drake::MatrixX value ( double t ) const
inlineoverridevirtual

Evaluate this PiecewisePolynomial at a particular time.

Parameters
 t The time to evaluate.
Returns
a Matrix that is the value of the wrapped PiecewisePolynomial.

Implements Trajectory.

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