Drake
Trajectory Class Referenceabstract

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

#include <drake/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<Trajectory> 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<Trajectory> derivative ( int  derivative_order = 1) const
pure virtual

Takes the derivative of this Trajectory.

Parameters
derivative_orderThe 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<double> value ( double  t) const
pure virtual

Evaluates the trajectory at the given time t.

Parameters
tThe 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: