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

Member Function Documentation

std::unique_ptr<Trajectory> 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<Trajectory> 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_orderThe 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<double>& 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<double> value ( double  t) const
inlineoverridevirtual

Evaluate this PiecewisePolynomial at a particular time.

Parameters
tThe 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: