Public Types | Public Member Functions | Protected Attributes | List of all members
parametriccurves::AbstractCurve< Numeric, Point > Struct Template Referenceabstract

Represents a curve of dimension Dim is Safe is false, no verification is made on the evaluation of the curve. More...

#include <parametric-curves/abstract-curve.hpp>

Inheritance diagram for parametriccurves::AbstractCurve< Numeric, Point >:
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Public Types

typedef Point point_t
 
typedef Numeric time_t
 
typedef Numeric num_t
 

Public Member Functions

 AbstractCurve (time_t t_min_, time_t t_max_)
 
 AbstractCurve ()
 
virtual ~AbstractCurve ()
 
virtual const point_t operator() (const time_t &t) const =0
 Evaluation of the cubic spline at time t. More...
 
virtual const point_t derivate (const time_t &t, const std::size_t &order) const =0
 Evaluation of the derivative spline at time t. More...
 
virtual const time_t tmin () const
 
virtual const time_t tmax () const
 
virtual bool checkRange (const time_t t) const
 
virtual bool setInitialPoint (const point_t &)=0
 
virtual bool setInitialPoint (const num_t &)=0
 
virtual bool setTimePeriod (const time_t &traj_time_)
 

Protected Attributes

time_t t_min
 
time_t t_max
 

Detailed Description

template<typename Numeric, typename Point>
struct parametriccurves::AbstractCurve< Numeric, Point >

Represents a curve of dimension Dim is Safe is false, no verification is made on the evaluation of the curve.

Member Typedef Documentation

◆ num_t

template<typename Numeric , typename Point >
typedef Numeric parametriccurves::AbstractCurve< Numeric, Point >::num_t

◆ point_t

template<typename Numeric , typename Point >
typedef Point parametriccurves::AbstractCurve< Numeric, Point >::point_t

◆ time_t

template<typename Numeric , typename Point >
typedef Numeric parametriccurves::AbstractCurve< Numeric, Point >::time_t

Constructor & Destructor Documentation

◆ AbstractCurve() [1/2]

template<typename Numeric , typename Point >
parametriccurves::AbstractCurve< Numeric, Point >::AbstractCurve ( time_t  t_min_,
time_t  t_max_ 
)
inline

◆ AbstractCurve() [2/2]

template<typename Numeric , typename Point >
parametriccurves::AbstractCurve< Numeric, Point >::AbstractCurve ( )
inline

◆ ~AbstractCurve()

template<typename Numeric , typename Point >
virtual parametriccurves::AbstractCurve< Numeric, Point >::~AbstractCurve ( )
inlinevirtual

Member Function Documentation

◆ checkRange()

template<typename Numeric , typename Point >
virtual bool parametriccurves::AbstractCurve< Numeric, Point >::checkRange ( const time_t  t) const
inlinevirtual

◆ derivate()

template<typename Numeric , typename Point >
virtual const point_t parametriccurves::AbstractCurve< Numeric, Point >::derivate ( const time_t &  t,
const std::size_t &  order 
) const
pure virtual

Evaluation of the derivative spline at time t.

Parameters
t: the time when to evaluate the spline
order: order of the derivative
return: the value x(t)

Implemented in parametriccurves::Spline< double, Dim, Eigen::Matrix< double, Dim, 1 > >.

◆ operator()()

template<typename Numeric , typename Point >
virtual const point_t parametriccurves::AbstractCurve< Numeric, Point >::operator() ( const time_t &  t) const
pure virtual

Evaluation of the cubic spline at time t.

Parameters
t: the time when to evaluate the spine
return: the value x(t)

Implemented in parametriccurves::Spline< double, Dim, Eigen::Matrix< double, Dim, 1 > >.

◆ setInitialPoint() [1/2]

template<typename Numeric , typename Point >
virtual bool parametriccurves::AbstractCurve< Numeric, Point >::setInitialPoint ( const num_t &  )
pure virtual

Implemented in parametriccurves::Spline< double, Dim, Eigen::Matrix< double, Dim, 1 > >, parametriccurves::LinearChirp< Numeric, Dim, Point >, parametriccurves::InfiniteSinusoid< Numeric, Dim, Point >, parametriccurves::InfiniteConstAcc< Numeric, Dim, Point >, and parametriccurves::Constant< Numeric, Dim, Point >.

◆ setInitialPoint() [2/2]

template<typename Numeric , typename Point >
virtual bool parametriccurves::AbstractCurve< Numeric, Point >::setInitialPoint ( const point_t &  )
pure virtual

Implemented in parametriccurves::Spline< double, Dim, Eigen::Matrix< double, Dim, 1 > >.

◆ setTimePeriod()

template<typename Numeric , typename Point >
virtual bool parametriccurves::AbstractCurve< Numeric, Point >::setTimePeriod ( const time_t &  traj_time_)
inlinevirtual

◆ tmax()

template<typename Numeric , typename Point >
virtual const time_t parametriccurves::AbstractCurve< Numeric, Point >::tmax ( ) const
inlinevirtual

◆ tmin()

template<typename Numeric , typename Point >
virtual const time_t parametriccurves::AbstractCurve< Numeric, Point >::tmin ( ) const
inlinevirtual

Member Data Documentation

◆ t_max

template<typename Numeric , typename Point >
time_t parametriccurves::AbstractCurve< Numeric, Point >::t_max
protected

◆ t_min

template<typename Numeric , typename Point >
time_t parametriccurves::AbstractCurve< Numeric, Point >::t_min
protected
The documentation for this struct was generated from the following file: