Spl_path Class Reference
Cartesian or joint space trajectory. More...
#include <trajectory.h>
Inheritance diagram for Spl_path:
Public Member Functions | |
| Spl_path (const std::string &filename) | |
| Spl_path (const Matrix &x) | |
| Constructor. | |
| short | p (const Real time, ColumnVector &p) |
| Position vector at time t. | |
| short | p_pdot (const Real time, ColumnVector &p, ColumnVector &pdot) |
| Position and velocity vector at time t. | |
| short | p_pdot_pddot (const Real time, ColumnVector &p, ColumnVector &pdot, ColumnVector &pdotdot) |
| Position, velocity and acceleration vector at time t. | |
| short | get_type () |
| double | get_final_time () |
 Public Member Functions inherited from Spl_cubic | |
| 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 | |
| short | type |
| Cartesian space or joint space. | |
| double | final_time |
| Spline final time. | |
Detailed Description
Cartesian or joint space trajectory.
Definition at line 116 of file trajectory.h.
