dynamicgraph::sot::tools::CubicInterpolation Class Reference

#include <cubic-interpolation.hh>

Inheritance diagram for dynamicgraph::sot::tools::CubicInterpolation:

Collaboration diagram for dynamicgraph::sot::tools::CubicInterpolation:

Public Member Functions
virtual	~CubicInterpolation ()
	CubicInterpolation (const std::string &name)
void	start (const double &duration)
	Start tracking. More...
void	reset ()
	Reset state to 0 before starting a new motion. More...
virtual std::string	getDocString () const
	Documentation. More...
void	setSamplingPeriod (const double &period)
	Set sampling period of control discretization. More...

Protected Member Functions
virtual void	doStart (const double &duration)
Vector &	computeSout (Vector &sout, const int &inTime)
Vector &	computeSoutdot (Vector &sout, const int &inTime)

Protected Attributes
dynamicgraph::Signal< Vector, int >	soutSOUT_
dynamicgraph::Signal< Vector, int >	soutdotSOUT_
dynamicgraph::SignalPtr< Vector, int >	initSIN_
dynamicgraph::SignalPtr< Vector, int >	goalSIN_
int	startTime_
double	samplingPeriod_
double	duration_
unsigned	state_
Vector	p0_
Vector	p1_
Vector	p2_
Vector	p3_

Constructor & Destructor Documentation

dynamicgraph::sot::tools::CubicInterpolation::~CubicInterpolation ( )

virtual

dynamicgraph::sot::tools::CubicInterpolation::CubicInterpolation

(

const std::string &

name

)

References computeSout(), computeSoutdot(), goalSIN_, initSIN_, reset(), setSamplingPeriod(), soutdotSOUT_, soutSOUT_, and start().

Member Function Documentation

Vector & dynamicgraph::sot::tools::CubicInterpolation::computeSout ( Vector &  sout, const int &  inTime  )

protected

References duration_, goalSIN_, initSIN_, p0_, p1_, p2_, p3_, samplingPeriod_, startTime_, and state_.

Referenced by CubicInterpolation().

Vector & dynamicgraph::sot::tools::CubicInterpolation::computeSoutdot ( Vector &  sout, const int &  inTime  )

protected

References duration_, initSIN_, p1_, p2_, p3_, samplingPeriod_, startTime_, and state_.

Referenced by CubicInterpolation().

void dynamicgraph::sot::tools::CubicInterpolation::doStart ( const double &  duration )

protectedvirtual

References duration_, goalSIN_, initSIN_, p0_, p1_, p2_, p3_, samplingPeriod_, soutSOUT_, startTime_, and state_.

Referenced by start().

std::string dynamicgraph::sot::tools::CubicInterpolation::getDocString ( ) const

virtual

Documentation.

void dynamicgraph::sot::tools::CubicInterpolation::reset

(

)

Reset state to 0 before starting a new motion.

References state_.

Referenced by CubicInterpolation().

void dynamicgraph::sot::tools::CubicInterpolation::setSamplingPeriod

(

const double &

period

)

Set sampling period of control discretization.

References samplingPeriod_.

Referenced by CubicInterpolation().

void dynamicgraph::sot::tools::CubicInterpolation::start

(

const double &

duration

)

Start tracking.

References doStart().

Referenced by CubicInterpolation().

Member Data Documentation

double dynamicgraph::sot::tools::CubicInterpolation::duration_

protected

Referenced by computeSout(), computeSoutdot(), and doStart().

dynamicgraph::SignalPtr< Vector, int > dynamicgraph::sot::tools::CubicInterpolation::goalSIN_

protected

Referenced by computeSout(), CubicInterpolation(), and doStart().

dynamicgraph::SignalPtr< Vector, int > dynamicgraph::sot::tools::CubicInterpolation::initSIN_

protected

Referenced by computeSout(), computeSoutdot(), CubicInterpolation(), and doStart().

Vector dynamicgraph::sot::tools::CubicInterpolation::p0_

protected

Referenced by computeSout(), and doStart().

Vector dynamicgraph::sot::tools::CubicInterpolation::p1_

protected

Referenced by computeSout(), computeSoutdot(), and doStart().

Vector dynamicgraph::sot::tools::CubicInterpolation::p2_

protected

Referenced by computeSout(), computeSoutdot(), and doStart().

Vector dynamicgraph::sot::tools::CubicInterpolation::p3_

protected

Referenced by computeSout(), computeSoutdot(), and doStart().

double dynamicgraph::sot::tools::CubicInterpolation::samplingPeriod_

protected

Referenced by computeSout(), computeSoutdot(), doStart(), and setSamplingPeriod().

dynamicgraph::Signal< Vector, int > dynamicgraph::sot::tools::CubicInterpolation::soutdotSOUT_

protected

Referenced by CubicInterpolation().

dynamicgraph::Signal< Vector, int > dynamicgraph::sot::tools::CubicInterpolation::soutSOUT_

protected

Referenced by CubicInterpolation(), and doStart().

int dynamicgraph::sot::tools::CubicInterpolation::startTime_

protected

Referenced by computeSout(), computeSoutdot(), and doStart().

unsigned dynamicgraph::sot::tools::CubicInterpolation::state_

protected

Referenced by computeSout(), computeSoutdot(), doStart(), and reset().