Trajectory< T > Class Template Reference

Detailed Description

template<typename T>
class drake::multibody::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 ()
std::unique_ptr< Trajectory< T > >	Clone () const
MatrixX< T >	value (const T &t) const
	Evaluates the trajectory at the given time t.
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.
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.
bool	has_derivative () const
	Returns true iff the Trajectory provides and implementation for EvalDerivative() and MakeDerivative().
MatrixX< T >	EvalDerivative (const T &t, int derivative_order=1) const
	Evaluates the derivative of this at the given time t.
std::unique_ptr< Trajectory< T > >	MakeDerivative (int derivative_order=1) const
	Takes the derivative of this Trajectory.
Eigen::Index	rows () const
Eigen::Index	cols () const
T	start_time () const
T	end_time () const

Protected Member Functions
	Trajectory ()=default
virtual std::unique_ptr< Trajectory< T > >	DoClone () const=0
virtual MatrixX< T >	do_value (const T &t) const=0
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
virtual Eigen::Index	do_rows () const=0
virtual Eigen::Index	do_cols () const=0
virtual T	do_start_time () const=0
virtual T	do_end_time () const=0
Implements CopyConstructible, CopyAssignable, MoveConstructible, MoveAssignable
	Trajectory (const Trajectory &)=default
	Trajectory (Trajectory &&)=default
Trajectory &	operator= (const Trajectory &)=default
Trajectory &	operator= (Trajectory &&)=default

Constructor & Destructor Documentation

~Trajectory()

template<typename T>

virtual ~Trajectory ( )

virtual

Trajectory() [1/3]

template<typename T>

Trajectory ( const Trajectory< T > & )

protecteddefault

Trajectory() [2/3]

template<typename T>

Trajectory ( Trajectory< T > && )

protecteddefault

Trajectory() [3/3]

template<typename T>

Trajectory ( )

protecteddefault

Member Function Documentation

Clone()

template<typename T>

std::unique_ptr< Trajectory< T > > Clone

(

)

const

Returns

A deep copy of this Trajectory.

cols()

template<typename T>

Eigen::Index cols

(

)

const

Returns

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

do_cols()

template<typename T>

virtual Eigen::Index do_cols ( ) const

protectedpure virtual

do_end_time()

template<typename T>

virtual T do_end_time ( ) const

protectedpure virtual

Implemented in PiecewiseTrajectory< AutoDiffXd >, and PiecewiseTrajectory< double >.

do_has_derivative()

template<typename T>

virtual bool do_has_derivative ( ) const

protectedvirtual

do_rows()

template<typename T>

virtual Eigen::Index do_rows ( ) const

protectedpure virtual

do_start_time()

template<typename T>

virtual T do_start_time ( ) const

protectedpure virtual

Implemented in PiecewiseTrajectory< AutoDiffXd >, and PiecewiseTrajectory< double >.

do_value()

template<typename T>

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

protectedpure virtual

DoClone()

template<typename T>

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

protectedpure virtual

DoEvalDerivative()

template<typename T>

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

protectedvirtual

DoMakeDerivative()

template<typename T>

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

protectedvirtual

end_time()

template<typename T>

T end_time

(

)

const

EvalDerivative()

template<typename T>

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()

template<typename T>

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()

template<typename T>

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]

template<typename T>

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

protecteddefault

operator=() [2/2]

template<typename T>

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

protecteddefault

rows()

template<typename T>

Eigen::Index rows

(

)

const

Returns

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

start_time()

template<typename T>

T start_time

(

)

const

value()

template<typename T>

MatrixX< T > value

(

const T &

t

)

const

Evaluates the trajectory at the given time t.

Parameters

t	The time at which to evaluate the trajectory.

Returns

The matrix of evaluated values.

vector_values() [1/2]

template<typename T>

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.

vector_values() [2/2]

template<typename T>

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.

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

• drake/common/trajectories/trajectory.h