dynamicgraph::sot::tools::CubicInterpolationSE3 Class Reference

#include <cubic-interpolation-se3.hh>

Inheritance diagram for dynamicgraph::sot::tools::CubicInterpolationSE3:

Collaboration diagram for dynamicgraph::sot::tools::CubicInterpolationSE3:

Public Member Functions
virtual	~CubicInterpolationSE3 ()
	CubicInterpolationSE3 (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)
MatrixHomogeneous &	computeSout (MatrixHomogeneous &sout, const int &inTime)

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

Constructor & Destructor Documentation

dynamicgraph::sot::tools::CubicInterpolationSE3::~CubicInterpolationSE3 ( )

virtual

dynamicgraph::sot::tools::CubicInterpolationSE3::CubicInterpolationSE3

(

const std::string &

name

)

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

Member Function Documentation

sot::MatrixHomogeneous & dynamicgraph::sot::tools::CubicInterpolationSE3::computeSout ( MatrixHomogeneous &  sout, const int &  inTime  )

protected

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

Referenced by CubicInterpolationSE3().

void dynamicgraph::sot::tools::CubicInterpolationSE3::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::CubicInterpolationSE3::getDocString ( ) const

virtual

Documentation.

void dynamicgraph::sot::tools::CubicInterpolationSE3::reset

(

)

Reset state to 0 before starting a new motion.

References state_.

Referenced by CubicInterpolationSE3().

void dynamicgraph::sot::tools::CubicInterpolationSE3::setSamplingPeriod

(

const double &

period

)

Set sampling period of control discretization.

References samplingPeriod_.

Referenced by CubicInterpolationSE3().

void dynamicgraph::sot::tools::CubicInterpolationSE3::start

(

const double &

duration

)

Start tracking.

References doStart().

Referenced by CubicInterpolationSE3().

Member Data Documentation

double dynamicgraph::sot::tools::CubicInterpolationSE3::duration_

protected

Referenced by computeSout(), and doStart().

dynamicgraph::SignalPtr< MatrixHomogeneous, int > dynamicgraph::sot::tools::CubicInterpolationSE3::goalSIN_

protected

Referenced by computeSout(), CubicInterpolationSE3(), and doStart().

dynamicgraph::SignalPtr< MatrixHomogeneous, int > dynamicgraph::sot::tools::CubicInterpolationSE3::initSIN_

protected

Referenced by computeSout(), CubicInterpolationSE3(), and doStart().

Vector dynamicgraph::sot::tools::CubicInterpolationSE3::p0_

protected

Referenced by computeSout(), and doStart().

Vector dynamicgraph::sot::tools::CubicInterpolationSE3::p1_

protected

Referenced by computeSout(), and doStart().

Vector dynamicgraph::sot::tools::CubicInterpolationSE3::p2_

protected

Referenced by computeSout(), and doStart().

Vector dynamicgraph::sot::tools::CubicInterpolationSE3::p3_

protected

Referenced by computeSout(), and doStart().

Vector dynamicgraph::sot::tools::CubicInterpolationSE3::position_

protected

Referenced by computeSout().

double dynamicgraph::sot::tools::CubicInterpolationSE3::samplingPeriod_

protected

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

Vector dynamicgraph::sot::tools::CubicInterpolationSE3::soutdot_

protected

Referenced by computeSout(), and CubicInterpolationSE3().

dynamicgraph::Signal< Vector, int > dynamicgraph::sot::tools::CubicInterpolationSE3::soutdotSOUT_

protected

Referenced by computeSout(), and CubicInterpolationSE3().

dynamicgraph::Signal< MatrixHomogeneous, int > dynamicgraph::sot::tools::CubicInterpolationSE3::soutSOUT_

protected

Referenced by CubicInterpolationSE3(), and doStart().

int dynamicgraph::sot::tools::CubicInterpolationSE3::startTime_

protected

Referenced by computeSout(), and doStart().

unsigned dynamicgraph::sot::tools::CubicInterpolationSE3::state_

protected

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