PiecewiseTrajectory< T > Class Template Reference

Detailed Description

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

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".

Template Parameters

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

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

Public Member Functions
	~PiecewiseTrajectory () override
int	get_number_of_segments () const
T	start_time (int segment_number) const
T	end_time (int segment_number) const
T	duration (int segment_number) const
T	start_time () const override
T	end_time () const override
boolean< T >	is_time_in_range (const T &t) const
	Returns true iff t >= getStartTime() && t <= getEndTime(). More...
int	get_segment_index (const T &t) const
const std::vector< T > &	get_segment_times () const
void	segment_number_range_check (int segment_number) const
Public Member Functions inherited from Trajectory< T >
virtual	~Trajectory ()
virtual std::unique_ptr< Trajectory< T > >	Clone () const =0
virtual MatrixX< T >	value (const T &t) const =0
	Evaluates the trajectory at the given time t. More...
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...
virtual Eigen::Index	rows () const =0
virtual Eigen::Index	cols () const =0

Static Public Member Functions
static std::vector< T >	RandomSegmentTimes (int num_segments, std::default_random_engine &generator)

Static Public Attributes
static constexpr double	kEpsilonTime = std::numeric_limits<double>::epsilon()
	Minimum delta quantity used for comparing time. More...

Protected Member Functions
	PiecewiseTrajectory ()=default
	PiecewiseTrajectory (const std::vector< T > &breaks)
	breaks increments must be greater or equal to kEpsilonTime. More...
bool	SegmentTimesEqual (const PiecewiseTrajectory &b, double tol=kEpsilonTime) const
const std::vector< T > &	breaks () const
std::vector< T > &	get_mutable_breaks ()
Implements CopyConstructible, CopyAssignable, MoveConstructible, MoveAssignable
	PiecewiseTrajectory (const PiecewiseTrajectory &)=default
PiecewiseTrajectory &	operator= (const PiecewiseTrajectory &)=default
	PiecewiseTrajectory (PiecewiseTrajectory &&)=default
PiecewiseTrajectory &	operator= (PiecewiseTrajectory &&)=default
Protected Member Functions inherited from Trajectory< T >
	Trajectory ()=default
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
	Trajectory (const Trajectory &)=default
Trajectory &	operator= (const Trajectory &)=default
	Trajectory (Trajectory &&)=default
Trajectory &	operator= (Trajectory &&)=default

Constructor & Destructor Documentation

~PiecewiseTrajectory()

~PiecewiseTrajectory ( )

override

PiecewiseTrajectory() [1/4]

PiecewiseTrajectory ( const PiecewiseTrajectory< T > &  )

protecteddefault

PiecewiseTrajectory() [2/4]

PiecewiseTrajectory ( PiecewiseTrajectory< T > &&  )

protecteddefault

PiecewiseTrajectory() [3/4]

PiecewiseTrajectory ( )

protecteddefault

PiecewiseTrajectory() [4/4]

PiecewiseTrajectory ( const std::vector< T > &  breaks )

explicitprotected

breaks increments must be greater or equal to kEpsilonTime.

Member Function Documentation

breaks()

const std::vector<T>& breaks ( ) const

protected

duration()

T duration

(

int

segment_number

)

const

end_time() [1/2]

T end_time

(

int

segment_number

)

const

end_time() [2/2]

T end_time ( ) const

overridevirtual

Implements Trajectory< T >.

get_mutable_breaks()

std::vector<T>& get_mutable_breaks ( )

protected

get_number_of_segments()

int get_number_of_segments

(

)

const

get_segment_index()

int get_segment_index

(

const T &

t

)

const

get_segment_times()

const std::vector<T>& get_segment_times

(

)

const

is_time_in_range()

boolean<T> is_time_in_range

(

const T &

t

)

const

Returns true iff t >= getStartTime() && t <= getEndTime().

operator=() [1/2]

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

protecteddefault

operator=() [2/2]

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

protecteddefault

RandomSegmentTimes()

static std::vector<T> RandomSegmentTimes ( int  num_segments, std::default_random_engine &  generator  )

static

segment_number_range_check()

void segment_number_range_check

(

int

segment_number

)

const

SegmentTimesEqual()

bool SegmentTimesEqual ( const PiecewiseTrajectory< T > &  b, double  tol = kEpsilonTime  ) const

protected

start_time() [1/2]

T start_time

(

int

segment_number

)

const

start_time() [2/2]

T start_time ( ) const

overridevirtual

Implements Trajectory< T >.

Member Data Documentation

kEpsilonTime

constexpr double kEpsilonTime = std::numeric_limits<double>::epsilon()

static

Minimum delta quantity used for comparing time.

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

• drake/common/trajectories/piecewise_trajectory.h