FunctionHandleTrajectory< T > Class Template Reference

Detailed Description

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

FunctionHandleTrajectory takes a function, value = f(t), and provides a Trajectory interface.

Template Parameters

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

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

Public Member Functions
	FunctionHandleTrajectory (std::function< MatrixX< T >(const T &)> func, int rows, int cols=1, double start_time=-std::numeric_limits< double >::infinity(), double end_time=std::numeric_limits< double >::infinity())
	Creates the FunctionHandleTrajectory. More...
	~FunctionHandleTrajectory () final
void	set_derivative (std::function< MatrixX< T >(const T &, int)> func)
	Sets a callback function that returns the derivative of the function. More...
std::unique_ptr< Trajectory< T > >	Clone () const final
MatrixX< T >	value (const T &t) const final
	Evaluates the trajectory at the given time t. More...
Eigen::Index	rows () const final
Eigen::Index	cols () const final
T	start_time () const final
T	end_time () const final
Implements CopyConstructible, CopyAssignable, MoveConstructible, MoveAssignable
	FunctionHandleTrajectory (const FunctionHandleTrajectory &)=default
FunctionHandleTrajectory &	operator= (const FunctionHandleTrajectory &)=default
	FunctionHandleTrajectory (FunctionHandleTrajectory &&)=default
FunctionHandleTrajectory &	operator= (FunctionHandleTrajectory &&)=default
Public Member Functions inherited from Trajectory< T >
virtual	~Trajectory ()
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...

Additional Inherited Members
Protected Member Functions inherited from Trajectory< T >
	Trajectory ()=default
	Trajectory (const Trajectory &)=default
Trajectory &	operator= (const Trajectory &)=default
	Trajectory (Trajectory &&)=default
Trajectory &	operator= (Trajectory &&)=default

Constructor & Destructor Documentation

FunctionHandleTrajectory() [1/3]

FunctionHandleTrajectory ( const FunctionHandleTrajectory< T > &  )

default

FunctionHandleTrajectory() [2/3]

FunctionHandleTrajectory ( FunctionHandleTrajectory< T > &&  )

default

FunctionHandleTrajectory() [3/3]

FunctionHandleTrajectory	(	std::function< MatrixX< T >(const T &)>	func,
		int	rows,
		int	cols = 1,
		double	start_time = -std::numeric_limits< double >::infinity(),
		double	end_time = std::numeric_limits< double >::infinity()
	)

Creates the FunctionHandleTrajectory.

By default the created trajectory does not provide derivatives. If trajectory derivatives are required, call set_derivative to provide the function's derivatives.

Parameters

func	The function to be used to evaluate the trajectory.
rows	The number of rows in the output of the function.
cols	The number of columns in the output of the function.
start_time	The start time of the trajectory.
end_time	The end time of the trajectory.

Exceptions

std::exception

if func == nullptr, rows < 0, cols < 0, start_time > end_time, or if the function returns a matrix of the wrong size.

~FunctionHandleTrajectory()

~FunctionHandleTrajectory ( )

final

Member Function Documentation

Clone()

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

finalvirtual

Returns

A deep copy of this Trajectory.

Implements Trajectory< T >.

cols()

Eigen::Index cols ( ) const

finalvirtual

Returns

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

Implements Trajectory< T >.

end_time()

T end_time ( ) const

finalvirtual

Implements Trajectory< T >.

operator=() [1/2]

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

default

operator=() [2/2]

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

default

rows()

Eigen::Index rows ( ) const

finalvirtual

Returns

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

Implements Trajectory< T >.

set_derivative()

void set_derivative

(

std::function< MatrixX< T >(const T &, int)>

func

)

Sets a callback function that returns the derivative of the function.

func(t,order) will only be called with order > 0. It is recommended that if the derivatives are not implemented for the requested order, the callback should throw an exception.

The size of the output of func will be checked each time the derivative is evaluated, and a std::exception will be thrown if the size is incorrect.

start_time()

T start_time ( ) const

finalvirtual

Implements Trajectory< T >.

value()

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

finalvirtual

Evaluates the trajectory at the given time t.

Parameters

t	The 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 file:

• drake/common/trajectories/function_handle_trajectory.h