2.5 The Spl_path class
Spl_path uses three instances of the class Spl_Cubic for path X, Y , Z
interpolation.
Constructor
Syntax
Spl_path():Spl_cubic(){};
Spl_path(const string & filename);
Spl_path(const Matrix & x);
Spl_path(const Spl_path & x);
Spl_path & operator=(const Spl_path & x);
Description
Spl_path object constructor, copy constructor and equal operator.
Return Value
None
p, dp, ddp
Syntax
short p(const Real time, ColumnVector & p);
short p_pdot(const Real time, ColumnVector & p, ColumnVector & pdot);
short p_pdot_pddot(const Real time, ColumnVector & p, ColumnVector & dp,
ColumnVector & ddp);
Description
These functions interpolate the spline at time t to sets the quaternion p
(position), dp (velocity) and ddp (acceleration).
Return Value
Status, as a short int.
- 0 successful
- NOT_IN_RANGE (regarding t)
- BAD_DATA