PathParameterizedTrajectory< T > Class Template Reference

Detailed Description

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

A trajectory defined by a path and timing trajectory.

Using a path of form r(s) and a time_scaling of the form s(t), a full trajectory of form q(t) = r(s(t)) is modeled.

Template Parameters

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

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

Public Member Functions
	PathParameterizedTrajectory (const Trajectory< T > &path, const Trajectory< T > &time_scaling)
	Constructs a trajectory with the given path and time_scaling.
	~PathParameterizedTrajectory () final
MatrixX< T >	value (const T &t) const
	Evaluates the PathParameterizedTrajectory at the given time t.
const trajectories::Trajectory< T > &	path () const
	Returns the path of this trajectory.
const trajectories::Trajectory< T > &	time_scaling () const
	Returns the time_scaling of this trajectory.
Implements CopyConstructible, CopyAssignable, MoveConstructible, MoveAssignable
	PathParameterizedTrajectory (const PathParameterizedTrajectory &)=default
PathParameterizedTrajectory &	operator= (const PathParameterizedTrajectory &)=default
	PathParameterizedTrajectory (PathParameterizedTrajectory &&)=default
PathParameterizedTrajectory &	operator= (PathParameterizedTrajectory &&)=default
Public Member Functions inherited from Trajectory< T >
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

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

PathParameterizedTrajectory() [1/3]

template<typename T>

PathParameterizedTrajectory ( const PathParameterizedTrajectory< T > & )

default

PathParameterizedTrajectory() [2/3]

template<typename T>

PathParameterizedTrajectory ( PathParameterizedTrajectory< T > && )

default

PathParameterizedTrajectory() [3/3]

template<typename T>

PathParameterizedTrajectory	(	const Trajectory< T > &	path,
		const Trajectory< T > &	time_scaling )

Constructs a trajectory with the given path and time_scaling.

Precondition

time_scaling.rows() == time_scaling.cols() == 1

~PathParameterizedTrajectory()

template<typename T>

~PathParameterizedTrajectory ( )

final

Member Function Documentation

operator=() [1/2]

template<typename T>

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

default

operator=() [2/2]

template<typename T>

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

default

path()

template<typename T>

const trajectories::Trajectory< T > & path

(

)

const

Returns the path of this trajectory.

time_scaling()

template<typename T>

const trajectories::Trajectory< T > & time_scaling

(

)

const

Returns the time_scaling of this trajectory.

value()

template<typename T>

MatrixX< T > value

(

const T &

t

)

const

Evaluates the PathParameterizedTrajectory at the given time t.

Parameters

t	The time at which to evaluate the PathParameterizedTrajectory.

Returns

The matrix of evaluated values.

Precondition

If T == symbolic::Expression, t.is_constant() must be true.

Warning

If t does not lie in the range [start_time(), end_time()], the trajectory will silently be evaluated at the closest valid value of time to t. For example, value(-1) will return value(0) for a trajectory defined over [0, 1].

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

• drake/common/trajectories/path_parameterized_trajectory.h