Drake
ExponentialPlusPiecewisePolynomial< T > Class Template Referencefinal

y(t) = K * exp(A * (t - t_j)) * alpha.col(j) + piecewise_polynomial_part(t) More...

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

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Public Member Functions

 ExponentialPlusPiecewisePolynomial ()=default
 
template<typename DerivedK , typename DerivedA , typename DerivedAlpha >
 ExponentialPlusPiecewisePolynomial (const Eigen::MatrixBase< DerivedK > &K, const Eigen::MatrixBase< DerivedA > &A, const Eigen::MatrixBase< DerivedAlpha > &alpha, const PiecewisePolynomial< T > &piecewise_polynomial_part)
 
 ExponentialPlusPiecewisePolynomial (const PiecewisePolynomial< T > &piecewise_polynomial_part)
 
 ~ExponentialPlusPiecewisePolynomial () override=default
 
std::unique_ptr< Trajectory< T > > Clone () const override
 
MatrixX< T > value (double t) const override
 Evaluates the trajectory at the given time t. More...
 
ExponentialPlusPiecewisePolynomial derivative (int derivative_order=1) const
 
std::unique_ptr< Trajectory< T > > MakeDerivative (int derivative_order=1) const override
 Takes the derivative of this Trajectory. More...
 
Eigen::Index rows () const override
 
Eigen::Index cols () const override
 
void shiftRight (double offset)
 
Implements CopyConstructible, CopyAssignable, MoveConstructible, MoveAssignable
 ExponentialPlusPiecewisePolynomial (const ExponentialPlusPiecewisePolynomial &)=default
 
ExponentialPlusPiecewisePolynomialoperator= (const ExponentialPlusPiecewisePolynomial &)=default
 
 ExponentialPlusPiecewisePolynomial (ExponentialPlusPiecewisePolynomial &&)=default
 
ExponentialPlusPiecewisePolynomialoperator= (ExponentialPlusPiecewisePolynomial &&)=default
 
- Public Member Functions inherited from PiecewiseTrajectory< T >
 ~PiecewiseTrajectory () override=default
 
int get_number_of_segments () const
 
double start_time (int segment_number) const
 
double end_time (int segment_number) const
 
double duration (int segment_number) const
 
double start_time () const override
 
double end_time () const override
 
bool is_time_in_range (double t) const
 Returns true iff t >= getStartTime() && t <= getEndTime(). More...
 
int get_segment_index (double t) const
 
const std::vector< double > & get_segment_times () const
 
void segment_number_range_check (int segment_number) const
 
- Public Member Functions inherited from Trajectory< T >
virtual ~Trajectory ()=default
 

Additional Inherited Members

- Static Public Member Functions inherited from PiecewiseTrajectory< T >
static std::vector< doubleRandomSegmentTimes (int num_segments, std::default_random_engine &generator)
 
- Static Public Attributes inherited from PiecewiseTrajectory< T >
static constexpr double kEpsilonTime = 1e-10
 Minimum delta quantity used for comparing time. More...
 
- Protected Member Functions inherited from PiecewiseTrajectory< T >
 PiecewiseTrajectory ()=default
 
 PiecewiseTrajectory (const std::vector< double > &breaks)
 breaks increments must be greater or equal to kEpsilonTime. More...
 
bool SegmentTimesEqual (const PiecewiseTrajectory &b, double tol=kEpsilonTime) const
 
const std::vector< double > & breaks () const
 
std::vector< double > & get_mutable_breaks ()
 
 PiecewiseTrajectory (const PiecewiseTrajectory &)=default
 
PiecewiseTrajectoryoperator= (const PiecewiseTrajectory &)=default
 
 PiecewiseTrajectory (PiecewiseTrajectory &&)=default
 
PiecewiseTrajectoryoperator= (PiecewiseTrajectory &&)=default
 
- Protected Member Functions inherited from Trajectory< T >
 Trajectory ()=default
 
 Trajectory (const Trajectory &)=default
 
Trajectoryoperator= (const Trajectory &)=default
 
 Trajectory (Trajectory &&)=default
 
Trajectoryoperator= (Trajectory &&)=default
 

Detailed Description

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

y(t) = K * exp(A * (t - t_j)) * alpha.col(j) + piecewise_polynomial_part(t)

Constructor & Destructor Documentation

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ExponentialPlusPiecewisePolynomial ( const Eigen::MatrixBase< DerivedK > &  K,
const Eigen::MatrixBase< DerivedA > &  A,
const Eigen::MatrixBase< DerivedAlpha > &  alpha,
const PiecewisePolynomial< T > &  piecewise_polynomial_part 
)
inline
ExponentialPlusPiecewisePolynomial ( const PiecewisePolynomial< T > &  piecewise_polynomial_part)

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~ExponentialPlusPiecewisePolynomial ( )
overridedefault

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Member Function Documentation

std::unique_ptr< Trajectory< T > > Clone ( ) const
overridevirtual
Returns
A deep copy of this Trajectory.

Implements Trajectory< T >.

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

Implements Trajectory< T >.

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ExponentialPlusPiecewisePolynomial< T > derivative ( int  derivative_order = 1) const

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std::unique_ptr<Trajectory<T> > MakeDerivative ( int  derivative_order = 1) const
inlineoverridevirtual

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.

Implements Trajectory< T >.

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

Implements Trajectory< T >.

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void shiftRight ( double  offset)

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MatrixX< T > value ( double  t) const
overridevirtual

Evaluates the trajectory at the given time t.

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

Implements Trajectory< T >.

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