LocalGuidance
A library that generates velocity references to follow a path.
robot_utils::catmull_rom::TrajectoryEigen3D Class Reference

#include <CatmullRomSpline.hpp>

Inheritance diagram for robot_utils::catmull_rom::TrajectoryEigen3D:
Inheritance graph

Public Member Functions

 TrajectoryEigen3D ()
 
 TrajectoryEigen3D (const TrajectoryEigen3D &)=default
 
virtual ~TrajectoryEigen3D ()
 
void saveCatmullRomToFile (int nPoints, std::string filename)
 
- Public Member Functions inherited from robot_utils::catmull_rom::CatmullRomSpline< Eigen::Vector3d >
 CatmullRomSpline (void)
 
 CatmullRomSpline (CatmullRomSpline< Eigen::Vector3d > &other)
 
 CatmullRomSpline (const CatmullRomSpline< Eigen::Vector3d > &other)
 
CatmullRomSpline< Eigen::Vector3d > & operator= (const CatmullRomSpline< Eigen::Vector3d > &other)
 
virtual ~CatmullRomSpline (void)
 
Eigen::Vector3d evaluate_linear (double t)
 
void evaluate_catmull_rom_traj (const int nPoints, std::vector< double > &tArray, std::vector< Eigen::Vector3d > &valArray)
 
Eigen::Vector3d evaluate (double t)
 
Eigen::Vector3d evaluate_catmull_rom (double t)
 
const Eigen::Vector3d & getKnotValue (int i) const
 
Eigen::Vector3d & getKnotValue (int i)
 
double getKnotPosition (int i) const
 
void setKnotValue (int i, const Eigen::Vector3d &val)
 
void setKnotPosition (int i, double pos)
 
double getMinPosition ()
 
double getMaxPosition ()
 
int getKnotCount () const
 
void addKnot (double t, Eigen::Vector3dval)
 
void removeKnot (int i)
 
void clear ()
 
void simplify_catmull_rom (double maxError, int nbSamples=100)
 
void copy (CatmullRomSpline< Eigen::Vector3d > &other)
 
void copy (const CatmullRomSpline< Eigen::Vector3d > &other)
 

Additional Inherited Members

- Public Types inherited from robot_utils::catmull_rom::CatmullRomSpline< Eigen::Vector3d >
typedef Eigen::Vector3d Type
 
- Protected Member Functions inherited from robot_utils::catmull_rom::CatmullRomSpline< Eigen::Vector3d >
int getFirstLargerIndex (double t)
 
- Protected Attributes inherited from robot_utils::catmull_rom::CatmullRomSpline< Eigen::Vector3d >
std::vector< double > tValues
 
std::vector< Eigen::Vector3d > values
 
volatile int lastIndex
 

Constructor & Destructor Documentation

robot_utils::catmull_rom::TrajectoryEigen3D::TrajectoryEigen3D ( )
inline
robot_utils::catmull_rom::TrajectoryEigen3D::TrajectoryEigen3D ( const TrajectoryEigen3D )
default
virtual robot_utils::catmull_rom::TrajectoryEigen3D::~TrajectoryEigen3D ( )
inlinevirtual

Member Function Documentation

void robot_utils::catmull_rom::TrajectoryEigen3D::saveCatmullRomToFile ( int  nPoints,
std::string  filename 
)
inline

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