Drake
PiecewiseCubicTrajectory< T > Class Template Reference

A wrapper class that stores a PiecewisePolynomial and its first and second derivatives. More...

#include <drake/manipulation/util/trajectory_utils.h>

Public Member Functions

 PiecewiseCubicTrajectory ()
 
 PiecewiseCubicTrajectory (const PiecewisePolynomial< T > &position_traj)
 Constructor. More...
 
MatrixX< T > get_position (double time) const
 Returns the interpolated position at time. More...
 
MatrixX< T > get_velocity (double time) const
 Returns the interpolated velocity at time or zero if time is out of the time bounds. More...
 
MatrixX< T > get_acceleration (double time) const
 Returns the interpolated acceleration at time or zero if time is out of the time bounds. More...
 
double get_start_time () const
 Returns the start time of this trajectory. More...
 
double get_end_time () const
 Returns the end time of this trajectory. More...
 
bool is_approx (const PiecewiseCubicTrajectory< T > &other, const T &tol) const
 Returns true if the position trajectory and its first and second derivatives are all within tol to other. More...
 
const PiecewisePolynomial< T > & get_position_trajectory () const
 Returns the position trajectory. More...
 
const PiecewisePolynomial< T > & get_velocity_trajectory () const
 Returns the velocity trajectory (first derivative). More...
 
const PiecewisePolynomial< T > & get_acceleration_trajectory () const
 Returns the acceleration trajectory (second derivative). More...
 
Implements CopyConstructible, CopyAssignable, MoveConstructible, MoveAssignable
 PiecewiseCubicTrajectory (const PiecewiseCubicTrajectory &)=default
 
PiecewiseCubicTrajectoryoperator= (const PiecewiseCubicTrajectory &)=default
 
 PiecewiseCubicTrajectory (PiecewiseCubicTrajectory &&)=default
 
PiecewiseCubicTrajectoryoperator= (PiecewiseCubicTrajectory &&)=default
 

Detailed Description

template<typename T>
class drake::manipulation::PiecewiseCubicTrajectory< T >

A wrapper class that stores a PiecewisePolynomial and its first and second derivatives.

This class is supposed to represent position, velocity and acceleration. Thus, when the interpolating time is beyond the time bounds, the interpolated velocity and acceleration will be set to zero, and the interpolated position will peg at the terminal values. All dimensions are assumed to be independent of each other.

Constructor & Destructor Documentation

PiecewiseCubicTrajectory ( const PiecewisePolynomial< T > &  position_traj)
inlineexplicit

Constructor.

Parameters
position_trajPiecewisePolynomial that represents the position trajectory. Its first and second derivatives are computed and stored.

Member Function Documentation

MatrixX<T> get_acceleration ( double  time) const
inline

Returns the interpolated acceleration at time or zero if time is out of the time bounds.

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const PiecewisePolynomial<T>& get_acceleration_trajectory ( ) const
inline

Returns the acceleration trajectory (second derivative).

double get_end_time ( ) const
inline

Returns the end time of this trajectory.

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MatrixX<T> get_position ( double  time) const
inline

Returns the interpolated position at time.

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const PiecewisePolynomial<T>& get_position_trajectory ( ) const
inline

Returns the position trajectory.

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double get_start_time ( ) const
inline

Returns the start time of this trajectory.

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MatrixX<T> get_velocity ( double  time) const
inline

Returns the interpolated velocity at time or zero if time is out of the time bounds.

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const PiecewisePolynomial<T>& get_velocity_trajectory ( ) const
inline

Returns the velocity trajectory (first derivative).

bool is_approx ( const PiecewiseCubicTrajectory< T > &  other,
const T &  tol 
) const
inline

Returns true if the position trajectory and its first and second derivatives are all within tol to other.

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PiecewiseCubicTrajectory& operator= ( PiecewiseCubicTrajectory< T > &&  )
default
PiecewiseCubicTrajectory& operator= ( const PiecewiseCubicTrajectory< T > &  )
default

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