Trajectory< T > Class Template Reference

Detailed Description

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

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

Template Parameters

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

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

Public Member Functions
virtual	~Trajectory ()=default
virtual std::unique_ptr< Trajectory< T > >	Clone () const =0
virtual MatrixX< T >	value (const T &t) const =0
	Evaluates the trajectory at the given time t. More...
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...
virtual Eigen::Index	rows () const =0
virtual Eigen::Index	cols () const =0
virtual T	start_time () const =0
virtual T	end_time () const =0

Protected Member Functions
	Trajectory ()=default
virtual bool	do_has_derivative () const
virtual MatrixX< T >	DoEvalDerivative (const T &t, int derivative_order) const
virtual std::unique_ptr< Trajectory< T > >	DoMakeDerivative (int derivative_order) const
Implements CopyConstructible, CopyAssignable, MoveConstructible, MoveAssignable
	Trajectory (const Trajectory &)=default
Trajectory &	operator= (const Trajectory &)=default
	Trajectory (Trajectory &&)=default
Trajectory &	operator= (Trajectory &&)=default

Constructor & Destructor Documentation

~Trajectory()

virtual ~Trajectory ( )

virtualdefault

Trajectory() [1/3]

Trajectory ( const Trajectory< T > &  )

protecteddefault

Trajectory() [2/3]

Trajectory ( Trajectory< T > &&  )

protecteddefault

Trajectory() [3/3]

Trajectory ( )

protecteddefault

Member Function Documentation

Clone()

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

pure virtual

Returns

A deep copy of this Trajectory.

Implemented in PiecewisePolynomial< T >, PiecewisePolynomial< double >, PiecewisePolynomial< AutoDiffXd >, BezierCurve< T >, BezierCurve< double >, PiecewiseQuaternionSlerp< T >, ExponentialPlusPiecewisePolynomial< T >, ExponentialPlusPiecewisePolynomial< double >, PiecewisePose< T >, BsplineTrajectory< T >, StackedTrajectory< T >, BsplineTrajectory< drake::symbolic::Expression >, DerivativeTrajectory< T >, PathParameterizedTrajectory< T >, and CompositeTrajectory< T >.

cols()

virtual Eigen::Index cols ( ) const

pure virtual

Returns

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

Implemented in PiecewisePolynomial< T >, PiecewisePolynomial< double >, PiecewisePolynomial< AutoDiffXd >, BezierCurve< T >, BezierCurve< double >, PiecewiseQuaternionSlerp< T >, ExponentialPlusPiecewisePolynomial< T >, ExponentialPlusPiecewisePolynomial< double >, PiecewisePose< T >, BsplineTrajectory< T >, BsplineTrajectory< drake::symbolic::Expression >, StackedTrajectory< T >, PathParameterizedTrajectory< T >, CompositeTrajectory< T >, and DerivativeTrajectory< T >.

do_has_derivative()

virtual bool do_has_derivative ( ) const

protectedvirtual

DoEvalDerivative()

virtual MatrixX<T> DoEvalDerivative ( const T &  t, int  derivative_order  ) const

protectedvirtual

DoMakeDerivative()

virtual std::unique_ptr<Trajectory<T> > DoMakeDerivative ( int  derivative_order ) const

protectedvirtual

end_time()

virtual T end_time ( ) const

pure virtual

Implemented in BezierCurve< T >, BezierCurve< double >, BsplineTrajectory< T >, BsplineTrajectory< drake::symbolic::Expression >, StackedTrajectory< T >, PathParameterizedTrajectory< T >, DerivativeTrajectory< T >, PiecewiseTrajectory< T >, PiecewiseTrajectory< double >, and PiecewiseTrajectory< AutoDiffXd >.

EvalDerivative()

MatrixX<T> EvalDerivative	(	const T &	t,
		int	derivative_order = 1
	)		const

Evaluates the derivative of this at the given time t.

Returns the nth derivative, where n is the value of derivative_order.

Exceptions

std::exception

if derivative_order is negative.

has_derivative()

bool has_derivative

(

)

const

Returns true iff the Trajectory provides and implementation for EvalDerivative() and MakeDerivative().

The derivative need not be continuous, but should return a result for all t for which value(t) returns a result.

MakeDerivative()

std::unique_ptr<Trajectory<T> > MakeDerivative

(

int

derivative_order = 1

)

const

Takes the derivative of this Trajectory.

Parameters

derivative_order

The number of times to take the derivative before returning.

Returns

The nth derivative of this object.

Exceptions

std::exception

if derivative_order is negative.

operator=() [1/2]

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

protecteddefault

operator=() [2/2]

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

protecteddefault

rows()

virtual Eigen::Index rows ( ) const

pure virtual

Returns

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

Implemented in PiecewisePolynomial< T >, PiecewisePolynomial< double >, PiecewisePolynomial< AutoDiffXd >, BezierCurve< T >, BezierCurve< double >, PiecewiseQuaternionSlerp< T >, ExponentialPlusPiecewisePolynomial< T >, ExponentialPlusPiecewisePolynomial< double >, PiecewisePose< T >, BsplineTrajectory< T >, BsplineTrajectory< drake::symbolic::Expression >, StackedTrajectory< T >, PathParameterizedTrajectory< T >, DerivativeTrajectory< T >, and CompositeTrajectory< T >.

start_time()

virtual T start_time ( ) const

pure virtual

Implemented in BezierCurve< T >, BezierCurve< double >, BsplineTrajectory< T >, BsplineTrajectory< drake::symbolic::Expression >, StackedTrajectory< T >, PathParameterizedTrajectory< T >, DerivativeTrajectory< T >, PiecewiseTrajectory< T >, PiecewiseTrajectory< double >, and PiecewiseTrajectory< AutoDiffXd >.

value()

virtual MatrixX<T> value ( const T &  t ) const

pure virtual

Evaluates the trajectory at the given time t.

Parameters

t	The time at which to evaluate the trajectory.

Returns

The matrix of evaluated values.

Implemented in PiecewisePolynomial< T >, PiecewisePolynomial< double >, PiecewisePolynomial< AutoDiffXd >, BezierCurve< T >, BezierCurve< double >, PiecewiseQuaternionSlerp< T >, PiecewisePose< T >, ExponentialPlusPiecewisePolynomial< T >, ExponentialPlusPiecewisePolynomial< double >, BsplineTrajectory< T >, BsplineTrajectory< drake::symbolic::Expression >, StackedTrajectory< T >, PathParameterizedTrajectory< T >, DerivativeTrajectory< T >, and CompositeTrajectory< T >.

vector_values() [1/2]

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.

Otherwise, if rows()==1, then evaluates the trajectory at each time t, and returns the results as a Matrix with the ith row corresponding to the ith time.

Exceptions

std::exception

if both cols and rows are not equal to 1.

vector_values() [2/2]

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.

Otherwise, if rows()==1, then evaluates the trajectory at each time t, and returns the results as a Matrix with the ith row corresponding to the ith time.

Exceptions

std::exception

if both cols and rows are not equal to 1.

---

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

• drake/common/trajectories/trajectory.h