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. More...
	~PathParameterizedTrajectory () final=default
std::unique_ptr< trajectories::Trajectory< T > >	Clone () const override
MatrixX< T >	value (const T &t) const override
	Evaluates the PathParameterizedTrajectory at the given time t. More...
Eigen::Index	rows () const override
Eigen::Index	cols () const override
T	start_time () const override
T	end_time () const override
const trajectories::Trajectory< T > &	path () const
	Returns the path of this trajectory. More...
const trajectories::Trajectory< T > &	time_scaling () const
	Returns the time_scaling of this trajectory. More...
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 ()=default
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

PathParameterizedTrajectory() [1/3]

PathParameterizedTrajectory ( const PathParameterizedTrajectory< T > &  )

default

PathParameterizedTrajectory() [2/3]

PathParameterizedTrajectory ( PathParameterizedTrajectory< T > &&  )

default

PathParameterizedTrajectory() [3/3]

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()

~PathParameterizedTrajectory ( )

finaldefault

Member Function Documentation

Clone()

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

overridevirtual

Returns

A deep copy of this Trajectory.

Implements Trajectory< T >.

cols()

Eigen::Index cols ( ) const

overridevirtual

Returns

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

Implements Trajectory< T >.

end_time()

T end_time ( ) const

overridevirtual

Implements Trajectory< T >.

operator=() [1/2]

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

default

operator=() [2/2]

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

default

path()

const trajectories::Trajectory<T>& path

(

)

const

Returns the path of this trajectory.

rows()

Eigen::Index rows ( ) const

overridevirtual

Returns

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

Implements Trajectory< T >.

start_time()

T start_time ( ) const

overridevirtual

Implements Trajectory< T >.

time_scaling()

const trajectories::Trajectory<T>& time_scaling

(

)

const

Returns the time_scaling of this trajectory.

value()

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

overridevirtual

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].

Implements Trajectory< T >.

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

• drake/common/trajectories/path_parameterized_trajectory.h