Drake
Trajectory Class Referenceabstract

A Trajectory represents a time-varying matrix of doubles. More...

#include <common/trajectories/trajectory.h>

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## Public Member Functions

virtual ~Trajectory ()

virtual std::unique_ptr< TrajectoryClone () const =0

virtual drake::MatrixX< doublevalue (double t) const =0
Evaluates the trajectory at the given time t. More...

virtual std::unique_ptr< Trajectoryderivative (int derivative_order=1) const =0
Takes the derivative of this Trajectory. More...

virtual Eigen::Index rows () const =0

virtual Eigen::Index cols () const =0

virtual double get_start_time () const =0

virtual double get_end_time () const =0

## Detailed Description

A Trajectory represents a time-varying matrix of doubles.

## Constructor & Destructor Documentation

 virtual ~Trajectory ( )
inlinevirtual

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## Member Function Documentation

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

Implemented in PiecewisePolynomialTrajectory.

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 virtual Eigen::Index cols ( ) const
pure virtual
Returns
The number of columns in the matrix returned by value().

Implemented in PiecewisePolynomialTrajectory.

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 virtual std::unique_ptr derivative ( int derivative_order = 1 ) const
pure virtual

Takes the derivative of this Trajectory.

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

Implemented in PiecewisePolynomialTrajectory.

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 virtual double get_end_time ( ) const
pure virtual

Implemented in PiecewisePolynomialTrajectory.

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 virtual double get_start_time ( ) const
pure virtual

Implemented in PiecewisePolynomialTrajectory.

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 virtual Eigen::Index rows ( ) const
pure virtual
Returns
The number of rows in the matrix returned by value().

Implemented in PiecewisePolynomialTrajectory.

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 virtual drake::MatrixX value ( double t ) const
pure virtual

Evaluates the trajectory at the given time t.

Parameters
 t The time at which to evaluate the trajectory.
Returns
The matrix of evaluated values.

Implemented in PiecewisePolynomialTrajectory.

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