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

Creates LinearChirp curve Linear chirp trajectory generator. A linear chirp is a sinusoid whose frequency is a linear function of time. In particular the frequency starts from a value f0 and it increases linearly up to a value f1. Then it goes back to f0 and the trajectory is ended. More...

#include <parametric-curves/linear-chirp.hpp>

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

Collaboration diagram for parametriccurves::LinearChirp< Numeric, Dim, Point >:

Public Types
typedef Point	point_t
typedef Point	freq_t
typedef Point	phase_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
	LinearChirp (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...
	LinearChirp (const time_t &traj_time_, const freq_t &f0_, const freq_t &f1_, const point_t &x_init_=Eigen::Matrix< Numeric, Dim, 1 >::Zero(), const point_t &x_final_=Eigen::Matrix< Numeric, Dim, 1 >::Zero())
	~LinearChirp ()
	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	setInitialFrequency (const Eigen::VectorXd &f0_)
virtual bool	setInitialFrequency (const double &f0_)
virtual bool	setFinalFrequency (const Eigen::VectorXd &f1_)
virtual bool	setFinalFrequency (const double &f1_)
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_)
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
freq_t	f0
freq_t	f1
	initial frequency More...
point_t	x_init
	final frequency More...
point_t	x_final
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::LinearChirp< Numeric, Dim, Point >

Creates LinearChirp curve Linear chirp trajectory generator. A linear chirp is a sinusoid whose frequency is a linear function of time. In particular the frequency starts from a value f0 and it increases linearly up to a value f1. Then it goes back to f0 and the trajectory is ended.

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::LinearChirp< Numeric, Dim, Point >::curve_abc_t

freq_t

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

typedef Point parametriccurves::LinearChirp< Numeric, Dim, Point >::freq_t

num_t

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

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

phase_t

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

typedef Point parametriccurves::LinearChirp< Numeric, Dim, Point >::phase_t

point_t

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

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

Constructor & Destructor Documentation

LinearChirp() [1/2]

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

parametriccurves::LinearChirp< Numeric, Dim, Point >::LinearChirp ( 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.

LinearChirp() [2/2]

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

parametriccurves::LinearChirp< Numeric, Dim, Point >::LinearChirp ( const time_t &  traj_time_, const freq_t &  f0_, const freq_t &  f1_, const point_t &  x_init_ = Eigen::Matrix<Numeric, Dim, 1>::Zero(), const point_t &  x_final_ = Eigen::Matrix<Numeric, Dim, 1>::Zero()  )

inline

~LinearChirp()

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

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

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::LinearChirp< 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::LinearChirp< Numeric, Dim, Point >::operator() ( const time_t &  t ) const

inlinevirtual

setFinalFrequency() [1/2]

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

virtual bool parametriccurves::LinearChirp< Numeric, Dim, Point >::setFinalFrequency ( const double &  f1_ )

inlinevirtual

setFinalFrequency() [2/2]

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

virtual bool parametriccurves::LinearChirp< Numeric, Dim, Point >::setFinalFrequency ( const Eigen::VectorXd &  f1_ )

inlinevirtual

setFinalPoint() [1/2]

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

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

inlinevirtual

setInitialFrequency() [1/2]

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

virtual bool parametriccurves::LinearChirp< Numeric, Dim, Point >::setInitialFrequency ( const double &  f0_ )

inlinevirtual

setInitialFrequency() [2/2]

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

virtual bool parametriccurves::LinearChirp< Numeric, Dim, Point >::setInitialFrequency ( const Eigen::VectorXd &  f0_ )

inlinevirtual

setInitialPoint() [1/2]

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

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

inlinevirtual

Member Data Documentation

f0

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

freq_t parametriccurves::LinearChirp< Numeric, Dim, Point >::f0

protected

f1

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

freq_t parametriccurves::LinearChirp< Numeric, Dim, Point >::f1

protected

initial frequency

x_final

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

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

protected

final frequency

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

• include/parametric-curves/linear-chirp.hpp