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ROBOOP::Spl_cubic Class Reference

#include <trajectory.h>

Inheritance diagram for ROBOOP::Spl_cubic:

Inheritance graph
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List of all members.

Detailed Description

Natural cubic splines class.

Definition at line 90 of file trajectory.h.

Public Member Functions

 Spl_cubic ()
 Spl_cubic (const Matrix &pts)
 Constructor.
 Spl_cubic (const Spl_cubic &x)
 Copy constructor.
Spl_cubicoperator= (const Spl_cubic &x)
 Overload = operator.
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.


Constructor & Destructor Documentation

ROBOOP::Spl_cubic::Spl_cubic  )  [inline]
 

Definition at line 93 of file trajectory.h.

Referenced by ROBOOP::Spl_path::Spl_path().

ROBOOP::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 50 of file trajectory.cpp.

ROBOOP::Spl_cubic::Spl_cubic const Spl_cubic x  ) 
 

Copy constructor.

Definition at line 150 of file trajectory.cpp.


Member Function Documentation

short ROBOOP::Spl_cubic::first_derivative const Real  t,
ColumnVector ds
 

Spline first derivative at time t.

Definition at line 201 of file trajectory.cpp.

Referenced by ROBOOP::Spl_path::p_pdot(), and ROBOOP::Spl_path::p_pdot_pddot().

short ROBOOP::Spl_cubic::interpolating const Real  t,
ColumnVector s
 

Interpolating the spline at time t. Extrapolating is not allowed.

Definition at line 177 of file trajectory.cpp.

Referenced by ROBOOP::Spl_path::p(), ROBOOP::Spl_path::p_pdot(), and ROBOOP::Spl_path::p_pdot_pddot().

Spl_cubic & ROBOOP::Spl_cubic::operator= const Spl_cubic x  ) 
 

Overload = operator.

Definition at line 163 of file trajectory.cpp.

short ROBOOP::Spl_cubic::second_derivative const Real  t,
ColumnVector dds
 

Spline second derivative at time t.

Definition at line 224 of file trajectory.cpp.

Referenced by ROBOOP::Spl_path::p_pdot_pddot().


Member Data Documentation

Matrix ROBOOP::Spl_cubic::Ak [private]
 

Definition at line 103 of file trajectory.h.

Referenced by first_derivative(), interpolating(), operator=(), second_derivative(), and Spl_cubic().

bool ROBOOP::Spl_cubic::bad_data [private]
 

Status flag.

Definition at line 105 of file trajectory.h.

Referenced by operator=(), and Spl_cubic().

Matrix ROBOOP::Spl_cubic::Bk [private]
 

Definition at line 103 of file trajectory.h.

Referenced by first_derivative(), interpolating(), operator=(), second_derivative(), and Spl_cubic().

Matrix ROBOOP::Spl_cubic::Ck [private]
 

Definition at line 103 of file trajectory.h.

Referenced by first_derivative(), interpolating(), operator=(), and Spl_cubic().

Matrix ROBOOP::Spl_cubic::Dk [private]
 

Definition at line 103 of file trajectory.h.

Referenced by interpolating(), operator=(), and Spl_cubic().

int ROBOOP::Spl_cubic::nb_path [private]
 

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

Definition at line 101 of file trajectory.h.

Referenced by first_derivative(), interpolating(), operator=(), second_derivative(), and Spl_cubic().

RowVector ROBOOP::Spl_cubic::tk [private]
 

Time at control points.

Definition at line 104 of file trajectory.h.

Referenced by first_derivative(), interpolating(), operator=(), second_derivative(), and Spl_cubic().


The documentation for this class was generated from the following files:

ROBOOP v1.21a
Generated Tue Nov 23 16:35:56 2004 by Doxygen 1.3.9.1