trajectory.h File Reference

Header file for trajectory generation class. More...

#include <sstream>
#include <map>
#include "quaternion.h"
#include "utils.h"

Go to the source code of this file.

Classes
class	Spl_cubic
	Natural cubic splines class. More...
class	Spl_path
	Cartesian or joint space trajectory. More...
class	Spl_Quaternion
	Cubic quaternions spline. More...
class	Trajectory_Select
	Trajectory class selection. More...

Macros
#define	K_ZER0   1
#define	BAD_DATA   -1
#define	EXTRAPOLLATION   -2
#define	NOT_IN_RANGE   -3
#define	NONE   0
#define	JOINT_SPACE   1
#define	CARTESIAN_SPACE   2

Typedefs
typedef std::map< Real, ColumnVector, less< Real > >	point_map
	Data at control points.
typedef std::map< Real, Quaternion, less< Real > >	quat_map
	Data at control points.

Detailed Description

Header file for trajectory generation class.

Definition in file trajectory.h.