parametriccurves::InfiniteSinusoid< Numeric, Dim, Point > Class Template Reference

Creates InfiniteSinusoid curve The sinusoid is actually a cosine so that it starts with zero velocity. Returns x = x_init + A*cos(2*pi*f*t) where f is give by 1/(2*traj_time) More...

#include <parametric-curves/infinite-sinusoid.hpp>

Inheritance diagram for parametriccurves::InfiniteSinusoid< Numeric, Dim, Point >:

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Public Types
typedef Point	point_t

typedef Numeric	time_t

typedef Numeric	num_t

typedef AbstractCurve< Numeric, Point >	curve_abc_t

Public Types inherited from parametriccurves::AbstractCurve< double, Eigen::Matrix< double, 1, 1 > >
typedef Eigen::Matrix< double, 1, 1 >	point_t

typedef double	time_t

typedef double	num_t

Public Member Functions
	InfiniteSinusoid (const time_t &traj_time_, const point_t &x_init_=Eigen::Matrix< Numeric, Dim, 1 >::Zero(), const point_t &x_final_=Eigen::Matrix< Numeric, Dim, 1 >::Zero())
	Constructor. More...

	~InfiniteSinusoid ()
	Destructor. More...

virtual const point_t	operator() (const time_t &t) const

virtual const point_t	derivate (const time_t &t, const std::size_t &order) const

virtual bool	setInitialPoint (const point_t &x_init_)

virtual bool	setInitialPoint (const double &x_init_)

virtual bool	setFinalPoint (const Eigen::VectorXd &x_final_)

virtual bool	setFinalPoint (const double &x_final_)

virtual bool	setTrajectoryTime (double traj_time_)

Public Member Functions inherited from parametriccurves::AbstractCurve< double, Eigen::Matrix< double, 1, 1 > >
	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	setTimePeriod (const time_t &traj_time_)

Protected Attributes
point_t	x_init

point_t	x_final

time_t	traj_time

Protected Attributes inherited from parametriccurves::AbstractCurve< double, Eigen::Matrix< double, 1, 1 > >
time_t	t_min

time_t	t_max

Detailed Description

template<typename Numeric = double, Eigen::Index Dim = 1, typename Point = Eigen::Matrix<Numeric, Dim, 1>>
class parametriccurves::InfiniteSinusoid< Numeric, Dim, Point >

Creates InfiniteSinusoid curve The sinusoid is actually a cosine so that it starts with zero velocity. Returns x = x_init + A*cos(2*pi*f*t) where f is give by 1/(2*traj_time)

Member Typedef Documentation

◆ curve_abc_t

template<typename Numeric = double, Eigen::Index Dim = 1, typename Point = Eigen::Matrix<Numeric, Dim, 1>>

typedef AbstractCurve<Numeric, Point> parametriccurves::InfiniteSinusoid< Numeric, Dim, Point >::curve_abc_t

◆ num_t

template<typename Numeric = double, Eigen::Index Dim = 1, typename Point = Eigen::Matrix<Numeric, Dim, 1>>

typedef Numeric parametriccurves::InfiniteSinusoid< Numeric, Dim, Point >::num_t

◆ point_t

template<typename Numeric = double, Eigen::Index Dim = 1, typename Point = Eigen::Matrix<Numeric, Dim, 1>>

typedef Point parametriccurves::InfiniteSinusoid< Numeric, Dim, Point >::point_t

◆ time_t

template<typename Numeric = double, Eigen::Index Dim = 1, typename Point = Eigen::Matrix<Numeric, Dim, 1>>

typedef Numeric parametriccurves::InfiniteSinusoid< Numeric, Dim, Point >::time_t

Constructor & Destructor Documentation

◆ InfiniteSinusoid()

template<typename Numeric = double, Eigen::Index Dim = 1, typename Point = Eigen::Matrix<Numeric, Dim, 1>>

parametriccurves::InfiniteSinusoid< Numeric, Dim, Point >::InfiniteSinusoid	(	const time_t &	traj_time_,
		const point_t &	x_init_ = `Eigen::Matrix<Numeric, Dim, 1>::Zero()`,
		const point_t &	x_final_ = `Eigen::Matrix<Numeric, Dim, 1>::Zero()`
	)

inline

Constructor.

◆ ~InfiniteSinusoid()

template<typename Numeric = double, Eigen::Index Dim = 1, typename Point = Eigen::Matrix<Numeric, Dim, 1>>

parametriccurves::InfiniteSinusoid< Numeric, Dim, Point >::~InfiniteSinusoid ( )

inline

Destructor.

Member Function Documentation

◆ derivate()

template<typename Numeric = double, Eigen::Index Dim = 1, typename Point = Eigen::Matrix<Numeric, Dim, 1>>

virtual const point_t parametriccurves::InfiniteSinusoid< Numeric, Dim, Point >::derivate	(	const time_t &	t,
		const std::size_t &	order
	)		const

inlinevirtual

◆ operator()()

template<typename Numeric = double, Eigen::Index Dim = 1, typename Point = Eigen::Matrix<Numeric, Dim, 1>>

virtual const point_t parametriccurves::InfiniteSinusoid< Numeric, Dim, Point >::operator() ( const time_t & t ) const

inlinevirtual

◆ setFinalPoint() [1/2]

template<typename Numeric = double, Eigen::Index Dim = 1, typename Point = Eigen::Matrix<Numeric, Dim, 1>>

virtual bool parametriccurves::InfiniteSinusoid< Numeric, Dim, Point >::setFinalPoint ( const double & x_final_ )

inlinevirtual

◆ setFinalPoint() [2/2]

template<typename Numeric = double, Eigen::Index Dim = 1, typename Point = Eigen::Matrix<Numeric, Dim, 1>>

virtual bool parametriccurves::InfiniteSinusoid< Numeric, Dim, Point >::setFinalPoint ( const Eigen::VectorXd & x_final_ )

inlinevirtual

◆ setInitialPoint() [1/2]

template<typename Numeric = double, Eigen::Index Dim = 1, typename Point = Eigen::Matrix<Numeric, Dim, 1>>

virtual bool parametriccurves::InfiniteSinusoid< Numeric, Dim, Point >::setInitialPoint ( const double & x_init_ )

inlinevirtual

Implements parametriccurves::AbstractCurve< double, Eigen::Matrix< double, 1, 1 > >.

◆ setInitialPoint() [2/2]

template<typename Numeric = double, Eigen::Index Dim = 1, typename Point = Eigen::Matrix<Numeric, Dim, 1>>

virtual bool parametriccurves::InfiniteSinusoid< Numeric, Dim, Point >::setInitialPoint ( const point_t & x_init_ )

inlinevirtual

◆ setTrajectoryTime()

template<typename Numeric = double, Eigen::Index Dim = 1, typename Point = Eigen::Matrix<Numeric, Dim, 1>>

virtual bool parametriccurves::InfiniteSinusoid< Numeric, Dim, Point >::setTrajectoryTime ( double traj_time_ )

inlinevirtual

Member Data Documentation

◆ traj_time

template<typename Numeric = double, Eigen::Index Dim = 1, typename Point = Eigen::Matrix<Numeric, Dim, 1>>

time_t parametriccurves::InfiniteSinusoid< Numeric, Dim, Point >::traj_time

protected

◆ x_final

template<typename Numeric = double, Eigen::Index Dim = 1, typename Point = Eigen::Matrix<Numeric, Dim, 1>>

point_t parametriccurves::InfiniteSinusoid< Numeric, Dim, Point >::x_final

protected

◆ x_init

template<typename Numeric = double, Eigen::Index Dim = 1, typename Point = Eigen::Matrix<Numeric, Dim, 1>>

point_t parametriccurves::InfiniteSinusoid< Numeric, Dim, Point >::x_init

protected

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

include/parametric-curves/infinite-sinusoid.hpp