Drake
Drake C++ Documentation
drake::trajectories Namespace Reference

Classes

class  BezierCurve
 A Bézier curve is defined by a set of control points p₀ through pₙ, where n is called the order of the curve (n = 1 for linear, 2 for quadratic, 3 for cubic, etc.). More...
 
class  BsplineTrajectory
 Represents a B-spline curve using a given basis with ordered control_points such that each control point is a matrix in ℝʳᵒʷˢ ˣ ᶜᵒˡˢ. More...
 
class  CompositeTrajectory
 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. More...
 
class  DerivativeTrajectory
 Trajectory objects provide derivatives by implementing DoEvalDerivative and DoMakeDerivative. More...
 
class  ExponentialPlusPiecewisePolynomial
 y(t) = K * exp(A * (t - t_j)) * alpha.col(j) + piecewise_polynomial_part(t) More...
 
class  PathParameterizedTrajectory
 A trajectory defined by a path and timing trajectory. More...
 
class  PiecewisePolynomial
 A scalar multi-variate piecewise polynomial. More...
 
class  PiecewisePose
 A wrapper class that represents a pose trajectory, whose rotation part is a PiecewiseQuaternionSlerp and the translation part is a PiecewisePolynomial. More...
 
class  PiecewiseQuaternionSlerp
 A class representing a trajectory for quaternions that are interpolated using piecewise slerp (spherical linear interpolation). More...
 
class  PiecewiseTrajectory
 Abstract class that implements the basic logic of maintaining consequent segments of time (delimited by breaks) to implement a trajectory that is represented by simpler logic in each segment or "piece". More...
 
class  StackedTrajectory
 A StackedTrajectory stacks the values from one or more underlying Trajectory objects into a single Trajectory, without changing the start_time() or end_time(). More...
 
class  Trajectory
 A Trajectory represents a time-varying matrix, indexed by a single scalar time. More...