StackedTrajectory< T > Class Template Reference

Detailed Description

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

A StackedTrajectory stacks the values from one or more underlying Trajectory objects into a single Trajectory, without changing the start_time() or end_time().

For sequencing trajectories in time instead, see CompositeTrajectory.

All of the underlying Trajectory objects must have the same start_time() and end_time().

When constructed with rowwise set to true, all of the underlying Trajectory objects must have the same number of cols() and the value() matrix will be the vstack of the the trajectories in the order they were added.

When constructed with rowwise set to false, all of the underlying Trajectory objects must have the same number of rows() and the value() matrix will be the hstack of the the trajectories in the order they were added.

Template Parameters

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

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

Public Member Functions
	StackedTrajectory (bool rowwise=true)
	Creates an empty trajectory. More...
	~StackedTrajectory () final
void	Append (const Trajectory< T > &traj)
	Stacks another sub-Trajectory onto this. 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
	StackedTrajectory (const StackedTrajectory &)=default
StackedTrajectory &	operator= (const StackedTrajectory &)=default
	StackedTrajectory (StackedTrajectory &&)=default
StackedTrajectory &	operator= (StackedTrajectory &&)=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

StackedTrajectory() [1/3]

StackedTrajectory ( const StackedTrajectory< T > &  )

default

StackedTrajectory() [2/3]

StackedTrajectory ( StackedTrajectory< T > &&  )

default

StackedTrajectory() [3/3]

StackedTrajectory ( bool  rowwise = true )

explicit

Creates an empty trajectory.

Parameters

rowwise

governs the stacking order

~StackedTrajectory()

~StackedTrajectory ( )

final

Member Function Documentation

Append()

void Append

(

const Trajectory< T > &

traj

)

Stacks another sub-Trajectory onto this.

Refer to the class overview documentation for details.

Exceptions

std::exception

if the matrix dimension is incompatible.

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]

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

default

operator=() [2/2]

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

default

rows()

Eigen::Index rows ( ) const

finalvirtual

Returns

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

Implements Trajectory< T >.

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 >.

---

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

• drake/common/trajectories/stacked_trajectory.h