robot_utils::GaussianBaseTrajectory Class Reference

#include <GaussianBaseTrajectory.hpp>

Public Types
typedef std::vector< double >	Parameters
typedef std::vector< double >	BaseValues

Public Member Functions
	GaussianBaseTrajectory ()
	~GaussianBaseTrajectory ()
void	initialize (const Parameters &par, double timeHorizon, double dt)
double	advance ()
double	next () const
double	previous () const
double	getCurrentSecondDerivative () const
double	getCurrentDerivative () const
double	getCurrentValue () const
double	getValueAtTimeFromNow (double time, double dt) const
void	reset ()
void	setParameters (const Parameters &par)
void	setSigmaOfBasisFunctions (double sigma)
void	setNumberOfBasisFunctions (double numberOfBasisFunctions)
void	setDurationOfTrajectory (double timeHorizon)
void	setTimeStep (double dt)
double	getLengthOfTrajectory () const
double	getSigma () const
int	getNumberOfBasisFunctions () const
Parameters	getParameters () const

Protected Member Functions
void	setScalingOfBasisFunctions ()
void	generateValueVectors ()
double	getValues (double &value, double &derivativeValue, double &secondDerivativeValue, double t) const
void	generateBasisFunctionVectors (BaseValues &baseValues, BaseValues &baseDerivatives, BaseValues &baseSecondDerivatives, double time, double sigma, double timeBetweenFirstAndLastParametrizedBaseFunction, int numberOfBasisFunctions) const
double	getValueOfGaussian (double x, double mu, double sigma) const
double	calculateValuesOfTrajectory (const BaseValues &basisVector, const Parameters &parameters) const
Parameters	elementWiseVectorMultiplication (const BaseValues &vecB, const Parameters &vecP) const
double	sum (const Parameters &vec) const

Protected Attributes
double	sigma_
double	timeBetweenFirstAndLastParametrizedBaseFunction_
int	numberOfBasisfunctions_
double	basisScaling_
double	timeStep_
Parameters	parameters_
double	currentTime_
double	previousValue_
double	currentValue_
double	currentDerivativeValue_
double	currentSecondDerivativeValue_
std::vector< double >	values_
std::vector< double >	derivativeValues_
std::vector< double >	secondDerivativeValues_

Member Typedef Documentation

typedef std::vector<double> robot_utils::GaussianBaseTrajectory::BaseValues

typedef std::vector<double> robot_utils::GaussianBaseTrajectory::Parameters

Constructor & Destructor Documentation

robot_utils::GaussianBaseTrajectory::GaussianBaseTrajectory

(

)

robot_utils::GaussianBaseTrajectory::~GaussianBaseTrajectory

(

)

Member Function Documentation

double robot_utils::GaussianBaseTrajectory::advance

(

)

double robot_utils::GaussianBaseTrajectory::calculateValuesOfTrajectory ( const BaseValues &  basisVector, const Parameters &  parameters  ) const

protected

Parameters robot_utils::GaussianBaseTrajectory::elementWiseVectorMultiplication ( const BaseValues &  vecB, const Parameters &  vecP  ) const

protected

void robot_utils::GaussianBaseTrajectory::generateBasisFunctionVectors ( BaseValues &  baseValues, BaseValues &  baseDerivatives, BaseValues &  baseSecondDerivatives, double  time, double  sigma, double  timeBetweenFirstAndLastParametrizedBaseFunction, int  numberOfBasisFunctions  ) const

protected

void robot_utils::GaussianBaseTrajectory::generateValueVectors ( )

protected

double robot_utils::GaussianBaseTrajectory::getCurrentDerivative

(

)

const

double robot_utils::GaussianBaseTrajectory::getCurrentSecondDerivative

(

)

const

double robot_utils::GaussianBaseTrajectory::getCurrentValue

(

)

const

double robot_utils::GaussianBaseTrajectory::getLengthOfTrajectory

(

)

const

int robot_utils::GaussianBaseTrajectory::getNumberOfBasisFunctions

(

)

const

Parameters robot_utils::GaussianBaseTrajectory::getParameters

(

)

const

double robot_utils::GaussianBaseTrajectory::getSigma

(

)

const

double robot_utils::GaussianBaseTrajectory::getValueAtTimeFromNow	(	double	time,
		double	dt
	)		const

double robot_utils::GaussianBaseTrajectory::getValueOfGaussian ( double  x, double  mu, double  sigma  ) const

protected

double robot_utils::GaussianBaseTrajectory::getValues ( double &  value, double &  derivativeValue, double &  secondDerivativeValue, double  t  ) const

protected

void robot_utils::GaussianBaseTrajectory::initialize	(	const Parameters &	par,
		double	timeHorizon,
		double	dt
	)

double robot_utils::GaussianBaseTrajectory::next

(

)

const

double robot_utils::GaussianBaseTrajectory::previous

(

)

const

void robot_utils::GaussianBaseTrajectory::reset

(

)

void robot_utils::GaussianBaseTrajectory::setDurationOfTrajectory

(

double

timeHorizon

)

void robot_utils::GaussianBaseTrajectory::setNumberOfBasisFunctions

(

double

numberOfBasisFunctions

)

void robot_utils::GaussianBaseTrajectory::setParameters

(

const Parameters &

par

)

void robot_utils::GaussianBaseTrajectory::setScalingOfBasisFunctions ( )

protected

void robot_utils::GaussianBaseTrajectory::setSigmaOfBasisFunctions

(

double

sigma

)

void robot_utils::GaussianBaseTrajectory::setTimeStep

(

double

dt

)

double robot_utils::GaussianBaseTrajectory::sum ( const Parameters &  vec ) const

protected

Member Data Documentation

double robot_utils::GaussianBaseTrajectory::basisScaling_

protected

double robot_utils::GaussianBaseTrajectory::currentDerivativeValue_

protected

double robot_utils::GaussianBaseTrajectory::currentSecondDerivativeValue_

protected

double robot_utils::GaussianBaseTrajectory::currentTime_

protected

double robot_utils::GaussianBaseTrajectory::currentValue_

protected

std::vector<double> robot_utils::GaussianBaseTrajectory::derivativeValues_

protected

int robot_utils::GaussianBaseTrajectory::numberOfBasisfunctions_

protected

Parameters robot_utils::GaussianBaseTrajectory::parameters_

protected

double robot_utils::GaussianBaseTrajectory::previousValue_

protected

std::vector<double> robot_utils::GaussianBaseTrajectory::secondDerivativeValues_

protected

double robot_utils::GaussianBaseTrajectory::sigma_

protected

double robot_utils::GaussianBaseTrajectory::timeBetweenFirstAndLastParametrizedBaseFunction_

protected

double robot_utils::GaussianBaseTrajectory::timeStep_

protected

std::vector<double> robot_utils::GaussianBaseTrajectory::values_

protected

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

• GaussianBaseTrajectory.hpp