Natural cubic splines class. More...

#include <trajectory.h>

Inheritance diagram for Spl_cubic:

Public Member Functions
	Spl_cubic (const Matrix &pts)
	Constructor. More...

short	interpolating (const Real t, ColumnVector &s)
	Interpolating the spline at time t. Extrapolating is not allowed.

short	first_derivative (const Real t, ColumnVector &ds)
	Spline first derivative at time t.

short	second_derivative (const Real t, ColumnVector &dds)
	Spline second derivative at time t.

Private Attributes
int	nb_path
	Number of path, i.e: path in x,y,z nb_path=3.

Matrix	Ak

Matrix	Bk

Matrix	Ck

Matrix	Dk

RowVector	tk
	Time at control points.

bool	bad_data
	Status flag.

Detailed Description

Natural cubic splines class.

Definition at line 87 of file trajectory.h.

Constructor & Destructor Documentation

Spl_cubic::Spl_cubic ( const Matrix & pts )

Constructor.

Parameters

pts,: Matrix containing the spline data.

The first line of the Matrix contain the sampling time Second line contain data (sk) to create spline i. Third " " i+1. on Nth line i+N.

The spline has the following form:

$s = A_k(t-t_k)^3 + B_k(t-t_k)^2 + C_k(t-t_k) + D_k$

Definition at line 55 of file trajectory.cpp.