arl::primitive::Trajectory< T > Class Template Reference

Represent a simple fifth order polynomial trajectory. Its a templated class that can be used with multiple types. More...

#include <trajectory.h>

Public Member Functions
	Trajectory ()
	~Trajectory ()
void	setParams (double t_init, const T &pos_init, const T &vel_init, const T &acc_init, double t_final, const T &pos_final, const T &vel_final, const T &acc_final)
	Calculates the parameters of the polynomial. More...
T	pos (double time)
	Calculates the position for the given time. More...
T	vel (double time)
	Calculates the velocity for the given time. More...
T	acc (double time)
	Calculates the acceleration for the given time. More...

Detailed Description

template<class T>
class arl::primitive::Trajectory< T >

Represent a simple fifth order polynomial trajectory. Its a templated class that can be used with multiple types.

The equations which are implemented here are described in book Robotics, Zoe Doulgeri, page 154.

Example of use:

#include <autharl_core/primitive/trajectory.h>
using arl::primitive::Trajectory;
//...
Trajectory<double> t;
t.setParams(0, 1, 1, 1, 10, 2, 2, 2);
double time = 5.0;
double position = t.pos(time);
double velocity = t.vel(time);
double acceleration = t.acc(time);

Usage with vectors:

#include <autharl_core/primitive/trajectory.h>
using arl::primitive::Trajectory;
//...
Trajectory<arma::vec> t;
arma::vec pos_init = {1, 0, 2};
arma::vec vel_init = {1, 0, 2};
arma::vec acc_init = {1, 0, 2};
arma::vec pos_final = {4, 7, 9};
arma::vec vel_final = {4, 7, 9};
arma::vec acc_final = {4, 7, 9};

// From initial time 10 to final 20
t.setParams(10, pos_init, vel_init, acc_init,
            20, pos_final, vel_final, acc_final);
double time = 15.0;
arma::vec position = t.pos(time);
arma::vec velocity = t.vel(time);
arma::vec acceleration = t.acc(time);

Constructor & Destructor Documentation

template<class T>

arl::primitive::Trajectory< T >::Trajectory ( )

inline

template<class T>

arl::primitive::Trajectory< T >::~Trajectory ( )

inline

Member Function Documentation

template<class T>

T arl::primitive::Trajectory< T >::acc ( double  time )

inline

Calculates the acceleration for the given time.

Parameters

time	The desired time

Returns

The acceleration in the desired time

template<class T>

T arl::primitive::Trajectory< T >::pos ( double  time )

inline

Calculates the position for the given time.

Parameters

time	The desired time

Returns

The position in the desired time

template<class T>

void arl::primitive::Trajectory< T >::setParams ( double  t_init, const T &  pos_init, const T &  vel_init, const T &  acc_init, double  t_final, const T &  pos_final, const T &  vel_final, const T &  acc_final  )

inline

Calculates the parameters of the polynomial.

Parameters

t_init	The initial time value
pos_init	The initial position
vel_init	The initial velocity
acc_init	The initial acceleration
t_final	The final time value
pos_final	The final position
vel_final	The final velocity
acc_final	The final acceleration

template<class T>

T arl::primitive::Trajectory< T >::vel ( double  time )

inline

Calculates the velocity for the given time.

Parameters

time	The desired time

Returns

The velocity in the desired time