mc_trajectory::Spline< T, WaypointsT > Struct Template Reference

#include <mc_trajectory/Spline.h>

Public Member Functions
	Spline (double duration, const T &start, const T &target, const WaypointsT &waypoints={})
void	waypoints (const WaypointsT &waypoints)
	Defines waypoints. More...
const WaypointsT &	waypoints () const
	Returns waypoints. More...
void	start (const T &start)
	Starting point for the trajectory at time t=0. More...
const T &	start () const
	Starting point at time t=0. More...
void	target (const T &target)
	Sets the spline target. More...
const T &	target () const
	Gets the spline target position. More...
void	samplingPoints (unsigned s)
	Number of sampling points for the trajectory visualization. More...
unsigned	samplingPoints () const
	Gets number of samples. More...
virtual void	update ()=0
	Triggers recreation of the curve. Will only occur if the curve parameters were modified (waypoints, target), or the sampling size has changed. More...

Protected Attributes
double	duration_
T	start_
T	target_
WaypointsT	waypoints_
unsigned	samplingPoints_ = 10
std::vector< T >	samples_
bool	needsUpdate_ = false

Constructor & Destructor Documentation

Spline()

template<typename T , typename WaypointsT >

mc_trajectory::Spline< T, WaypointsT >::Spline	(	double	duration,
		const T &	start,
		const T &	target,
		const WaypointsT &	waypoints = {}
	)

Member Function Documentation

samplingPoints() [1/2]

template<typename T , typename WaypointsT >

unsigned mc_trajectory::Spline< T, WaypointsT >::samplingPoints

(

)

const

Gets number of samples.

Returns

number of samples

samplingPoints() [2/2]

template<typename T , typename WaypointsT >

void mc_trajectory::Spline< T, WaypointsT >::samplingPoints

(

unsigned

s

)

Number of sampling points for the trajectory visualization.

Parameters

s	Number of sampling points. If the number of samples is different from the one previously specified, this will trigger a curve recomputation.

start() [1/2]

template<typename T , typename WaypointsT >

const T& mc_trajectory::Spline< T, WaypointsT >::start

(

)

const

Starting point at time t=0.

Returns

starting point

start() [2/2]

template<typename T , typename WaypointsT >

void mc_trajectory::Spline< T, WaypointsT >::start

(

const T &

start

)

Starting point for the trajectory at time t=0.

Parameters

pos	starting point

target() [1/2]

template<typename T , typename WaypointsT >

const T& mc_trajectory::Spline< T, WaypointsT >::target

(

)

const

Gets the spline target position.

Returns

The spline target position

target() [2/2]

template<typename T , typename WaypointsT >

void mc_trajectory::Spline< T, WaypointsT >::target

(

const T &

target

)

Sets the spline target.

Parameters

target

final target for the spline

update()

template<typename T , typename WaypointsT >

virtual void mc_trajectory::Spline< T, WaypointsT >::update ( )

pure virtual

Triggers recreation of the curve. Will only occur if the curve parameters were modified (waypoints, target), or the sampling size has changed.

Implemented in mc_trajectory::ExactCubic, mc_trajectory::BSpline, and mc_trajectory::InterpolatedRotation.

waypoints() [1/2]

template<typename T , typename WaypointsT >

const WaypointsT& mc_trajectory::Spline< T, WaypointsT >::waypoints

(

)

const

Returns waypoints.

Returns

Waypoints. Doesn't include starting and target orienation (use start() and target() instead).

waypoints() [2/2]

template<typename T , typename WaypointsT >

void mc_trajectory::Spline< T, WaypointsT >::waypoints

(

const WaypointsT &

waypoints

)

Defines waypoints.

Parameters

waypoints

Waypoints. Shouldn't include starting and target orientation (use start() and target() instead). Time should be 0<time<duration.

Member Data Documentation

duration_

template<typename T , typename WaypointsT >

double mc_trajectory::Spline< T, WaypointsT >::duration_

protected

needsUpdate_

template<typename T , typename WaypointsT >

bool mc_trajectory::Spline< T, WaypointsT >::needsUpdate_ = false

protected

samples_

template<typename T , typename WaypointsT >

std::vector<T> mc_trajectory::Spline< T, WaypointsT >::samples_

protected

samplingPoints_

template<typename T , typename WaypointsT >

unsigned mc_trajectory::Spline< T, WaypointsT >::samplingPoints_ = 10

protected

start_

template<typename T , typename WaypointsT >

T mc_trajectory::Spline< T, WaypointsT >::start_

protected

target_

template<typename T , typename WaypointsT >

T mc_trajectory::Spline< T, WaypointsT >::target_

protected

waypoints_

template<typename T , typename WaypointsT >

WaypointsT mc_trajectory::Spline< T, WaypointsT >::waypoints_

protected

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

• include/mc_trajectory/Spline.h