Drake
Trajectory< T > Class Template Referenceabstract

A Trajectory represents a time-varying matrix, indexed by a single scalar double time. More...

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

Inheritance diagram for Trajectory< T >:
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Public Member Functions

virtual ~Trajectory ()=default
 
virtual std::unique_ptr< Trajectory< T > > Clone () const =0
 
virtual MatrixX< T > value (double t) const =0
 Evaluates the trajectory at the given time t. More...
 
virtual std::unique_ptr< Trajectory< T > > MakeDerivative (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 start_time () const =0
 
virtual double end_time () const =0
 

Protected Member Functions

 Trajectory ()=default
 
Implements CopyConstructible, CopyAssignable, MoveConstructible, MoveAssignable
 Trajectory (const Trajectory &)=default
 
Trajectoryoperator= (const Trajectory &)=default
 
 Trajectory (Trajectory &&)=default
 
Trajectoryoperator= (Trajectory &&)=default
 

Detailed Description

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

A Trajectory represents a time-varying matrix, indexed by a single scalar double time.

Template Parameters
Tis a Scalar type for the data that is returned.

Constructor & Destructor Documentation

virtual ~Trajectory ( )
virtualdefault
Trajectory ( const Trajectory< T > &  )
protecteddefault
Trajectory ( Trajectory< T > &&  )
protecteddefault
Trajectory ( )
protecteddefault

Member Function Documentation

virtual Eigen::Index cols ( ) const
pure virtual
virtual double end_time ( ) const
pure virtual
virtual std::unique_ptr<Trajectory<T> > MakeDerivative ( 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 PiecewisePolynomial< T >, PiecewisePolynomial< double >, PiecewiseQuaternionSlerp< T >, PiecewiseQuaternionSlerp< double >, ExponentialPlusPiecewisePolynomial< T >, and ExponentialPlusPiecewisePolynomial< double >.

Trajectory& operator= ( Trajectory< T > &&  )
protecteddefault
Trajectory& operator= ( const Trajectory< T > &  )
protecteddefault
virtual double start_time ( ) const
pure virtual
virtual MatrixX<T> 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 PiecewisePolynomial< T >, PiecewisePolynomial< double >, PiecewiseQuaternionSlerp< T >, PiecewiseQuaternionSlerp< double >, ExponentialPlusPiecewisePolynomial< T >, and ExponentialPlusPiecewisePolynomial< double >.


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