CompositeTrajectory< T > Class Template Reference

Detailed Description

template<typename T>
class drake::trajectories::CompositeTrajectory< T >

A "composite trajectory" is a series of trajectories joined end to end where the end time of one trajectory coincides with the starting time of the next.

See also PiecewisePolynomial::ConcatenateInTime(), which might be preferred if all of the segments are PiecewisePolynomial.

Template Parameters

T	The scalar type, which must be one of the default scalars.

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

Public Member Functions
	CompositeTrajectory (std::vector< copyable_unique_ptr< Trajectory< T >>> segments)
	Constructs a composite trajectory from a list of Trajectories. More...
virtual	~CompositeTrajectory ()=default
std::unique_ptr< trajectories::Trajectory< T > >	Clone () const final
MatrixX< T >	value (const T &time) const final
	Evaluates the curve at the given time. More...
Eigen::Index	rows () const final
Eigen::Index	cols () const final
const Trajectory< T > &	segment (int segment_index) const
	Returns a reference to the segment_index trajectory. More...
Implements CopyConstructible, CopyAssignable, MoveConstructible, MoveAssignable
	CompositeTrajectory (const CompositeTrajectory &)=default
CompositeTrajectory &	operator= (const CompositeTrajectory &)=default
	CompositeTrajectory (CompositeTrajectory &&)=default
CompositeTrajectory &	operator= (CompositeTrajectory &&)=default
Public Member Functions inherited from PiecewiseTrajectory< T >
	~PiecewiseTrajectory () override=default
int	get_number_of_segments () const
T	start_time (int segment_number) const
T	end_time (int segment_number) const
T	duration (int segment_number) const
T	start_time () const override
T	end_time () const override
boolean< T >	is_time_in_range (const T &t) const
	Returns true iff t >= getStartTime() && t <= getEndTime(). More...
int	get_segment_index (const T &t) const
const std::vector< T > &	get_segment_times () const
void	segment_number_range_check (int segment_number) const
Public Member Functions inherited from Trajectory< T >
virtual	~Trajectory ()=default
MatrixX< T >	vector_values (const std::vector< T > &t) const
	If cols()==1, then evaluates the trajectory at each time t, and returns the results as a Matrix with the ith column corresponding to the ith time. More...
MatrixX< T >	vector_values (const Eigen::Ref< const VectorX< T >> &t) const
	If cols()==1, then evaluates the trajectory at each time t, and returns the results as a Matrix with the ith column corresponding to the ith time. More...
bool	has_derivative () const
	Returns true iff the Trajectory provides and implementation for EvalDerivative() and MakeDerivative(). More...
MatrixX< T >	EvalDerivative (const T &t, int derivative_order=1) const
	Evaluates the derivative of this at the given time t. More...
std::unique_ptr< Trajectory< T > >	MakeDerivative (int derivative_order=1) const
	Takes the derivative of this Trajectory. More...

Additional Inherited Members
Static Public Member Functions inherited from PiecewiseTrajectory< T >
static std::vector< T >	RandomSegmentTimes (int num_segments, std::default_random_engine &generator)
Static Public Attributes inherited from PiecewiseTrajectory< T >
static constexpr double	kEpsilonTime = std::numeric_limits<double>::epsilon()
	Minimum delta quantity used for comparing time. More...
Protected Member Functions inherited from PiecewiseTrajectory< T >
	PiecewiseTrajectory ()=default
	PiecewiseTrajectory (const std::vector< T > &breaks)
	breaks increments must be greater or equal to kEpsilonTime. More...
bool	SegmentTimesEqual (const PiecewiseTrajectory &b, double tol=kEpsilonTime) const
const std::vector< T > &	breaks () const
std::vector< T > &	get_mutable_breaks ()
	PiecewiseTrajectory (const PiecewiseTrajectory &)=default
PiecewiseTrajectory &	operator= (const PiecewiseTrajectory &)=default
	PiecewiseTrajectory (PiecewiseTrajectory &&)=default
PiecewiseTrajectory &	operator= (PiecewiseTrajectory &&)=default
Protected Member Functions inherited from Trajectory< T >
	Trajectory ()=default
	Trajectory (const Trajectory &)=default
Trajectory &	operator= (const Trajectory &)=default
	Trajectory (Trajectory &&)=default
Trajectory &	operator= (Trajectory &&)=default

Constructor & Destructor Documentation

CompositeTrajectory() [1/3]

CompositeTrajectory ( const CompositeTrajectory< T > &  )

default

CompositeTrajectory() [2/3]

CompositeTrajectory ( CompositeTrajectory< T > &&  )

default

CompositeTrajectory() [3/3]

CompositeTrajectory ( std::vector< copyable_unique_ptr< Trajectory< T >>>  segments )

explicit

Constructs a composite trajectory from a list of Trajectories.

Precondition

∀i, segments[i+1].start_time() == segments[i].end_time().

∀i, segments[i].rows() == segments[0].rows() and segments[i].cols() == segments[0].cols()`.

~CompositeTrajectory()

virtual ~CompositeTrajectory ( )

virtualdefault

Member Function Documentation

Clone()

std::unique_ptr<trajectories::Trajectory<T> > Clone ( ) const

finalvirtual

Returns

A deep copy of this Trajectory.

Implements Trajectory< T >.

cols()

Eigen::Index cols ( ) const

finalvirtual

Returns

The number of columns in the matrix returned by value().

Implements Trajectory< T >.

operator=() [1/2]

CompositeTrajectory& operator= ( CompositeTrajectory< T > &&  )

default

operator=() [2/2]

CompositeTrajectory& operator= ( const CompositeTrajectory< T > &  )

default

rows()

Eigen::Index rows ( ) const

finalvirtual

Returns

The number of rows in the matrix returned by value().

Implements Trajectory< T >.

segment()

const Trajectory<T>& segment

(

int

segment_index

)

const

Returns a reference to the segment_index trajectory.

value()

MatrixX<T> value ( const T &  time ) const

finalvirtual

Evaluates the curve at the given time.

Warning

If t does not lie in the range [start_time(), end_time()], the trajectory will silently be evaluated at the closest valid value of time to time. For example, value(-1) will return value(0) for a trajectory defined over [0, 1].

Implements Trajectory< T >.

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

• drake/common/trajectories/composite_trajectory.h