A linear function (as in Ax=b) More...

#include <robLinearRn.h>

Inheritance diagram for robLinearRn:

Public Member Functions
	robLinearRn (const vctFixedSizeVector< double, 3 > &y1, const vctFixedSizeVector< double, 3 > &y2, double vmax, double t1=0.0)
	Define a linear function $L: R^1\rightarrow R^3$ . More...

	robLinearRn (const vctDynamicVector< double > &y1, const vctDynamicVector< double > &y2, const vctDynamicVector< double > &ydmax, double t1=0.0)
	Define a linear function $L: R^1\rightarrow R^n$ . More...

void	Evaluate (double t, double &y, double &yd, double &ydd)
	Evaluate the function. More...

void	Evaluate (double t, vctFixedSizeVector< double, 3 > &p, vctFixedSizeVector< double, 3 > &v, vctFixedSizeVector< double, 3 > &vd)
	Evaluate the function. More...

void	Evaluate (double t, vctDynamicVector< double > &y, vctDynamicVector< double > &yd, vctDynamicVector< double > &ydd)
	Evaluate the function. More...

void	Blend (robFunction *function, const vctDynamicVector< double > &qd, const vctDynamicVector< double > &qdd)

void	Blend (robFunction *function, double vmax, double vdmax)

vctDynamicVector< double >	Slope () const

Public Member Functions inherited from robFunctionRn
	robFunctionRn (void)

	robFunctionRn (double t1, const vctFixedSizeVector< double, 3 > &p1, const vctFixedSizeVector< double, 3 > &p1d, const vctFixedSizeVector< double, 3 > &p1dd, double t2, const vctFixedSizeVector< double, 3 > &p2, const vctFixedSizeVector< double, 3 > &p2d, const vctFixedSizeVector< double, 3 > &p2dd)

	robFunctionRn (double t1, const vctDynamicVector< double > &p1, const vctDynamicVector< double > &p1d, const vctDynamicVector< double > &p1dd, double t2, const vctDynamicVector< double > &p2, const vctDynamicVector< double > &p2d, const vctDynamicVector< double > &p2dd)

virtual	~robFunctionRn ()

void	Set (double t1, const vctDynamicVector< double > &p1, const vctDynamicVector< double > &p1d, const vctDynamicVector< double > &p1dd, double t2, const vctDynamicVector< double > &p2, const vctDynamicVector< double > &p2d, const vctDynamicVector< double > &p2dd)

void	InitialState (vctDynamicVector< double > &p, vctDynamicVector< double > &pd, vctDynamicVector< double > &pdd)

void	FinalState (vctDynamicVector< double > &p, vctDynamicVector< double > &pd, vctDynamicVector< double > &pdd)

void	InitialState (vctFixedSizeVector< double, 3 > &p, double &v, double &vd)

void	FinalState (vctFixedSizeVector< double, 3 > &p, double &v, double &vd)

Public Member Functions inherited from robFunction
	robFunction (void)

	robFunction (double startTime, double stopTime)

virtual	~robFunction ()

void	Set (double startTime, double stopTime)
	Set start and stop time. More...

virtual double &	StartTime (void)
	Return start time. More...

virtual double &	StopTime (void)
	Return stop time. More...

virtual double	Duration (void) const
	Return duration. More...

Additional Inherited Members
Protected Attributes inherited from robFunctionRn
vctDynamicVector< double >	y1

vctDynamicVector< double >	y1d

vctDynamicVector< double >	y1dd

vctDynamicVector< double >	y2

vctDynamicVector< double >	y2d

vctDynamicVector< double >	y2dd

Protected Attributes inherited from robFunction
double	t1

double	t2

Detailed Description

A linear function (as in Ax=b)

Constructor & Destructor Documentation

robLinearRn::robLinearRn	(	const vctFixedSizeVector< double, 3 > &	y1,
		const vctFixedSizeVector< double, 3 > &	y2,
		double	vmax,
		double	t1 = `0.0`
	)

Define a linear function $L: R^1\rightarrow R^3$ .

Define a line passing throuh $(t_1,\mathbf{y}_1)$ and $(t_2,\mathbf{y}_2)$ . The final time $t_2$ is determined by the maximum velocities. The function is bounded by $[t_1, t_2]$ .

Parameters

t1	The initial time
y1	The value $\mathbf{y}_1 = L(t_1)$
y2	The value $\mathbf{y}_2 = L(t_2)$
vmax	The magnitude of the maximum linear velocity

robLinearRn::robLinearRn	(	const vctDynamicVector< double > &	y1,
		const vctDynamicVector< double > &	y2,
		const vctDynamicVector< double > &	ydmax,
		double	t1 = `0.0`
	)

Define a linear function $L: R^1\rightarrow R^n$ .

Define a line passing throuh $(t_1,\mathbf{y}_1)$ and $(t_2,\mathbf{y}_2)$ . The final time $t_2$ is determined by the maximum velocities. The function is bounded by $[t_1, t_2]$ .

Parameters

t1	The initial time
y1	The value $\mathbf{y}_1 = L(t_1)$
y2	The value $\mathbf{y}_2 = L(t_2)$
ydmax	The maximum velocity for each dimension

Member Function Documentation

void robLinearRn::Blend	(	robFunction *	function,
		const vctDynamicVector< double > &	qd,
		const vctDynamicVector< double > &	qdd
	)

virtual

Implements robFunctionRn.

void robLinearRn::Blend	(	robFunction *	function,
		double	vmax,
		double	vdmax
	)

virtual

Implements robFunctionRn.

void robLinearRn::Evaluate	(	double	t,
		double &	y,
		double &	yd,
		double &	ydd
	)

Evaluate the function.

Evaluate the linear function for the given input. The domain of the input

Parameters

[in]	input	The input to the function. The input domain must be robSpace::TIME
	t	The time
[out]	y	The linear function at time t
[out]	yd	The 1st order time derivative at time t
[out]	ydd	The 2nd order time derivative at time t (always zero)

void robLinearRn::Evaluate	(	double	t,
		vctFixedSizeVector< double, 3 > &	p,
		vctFixedSizeVector< double, 3 > &	v,
		vctFixedSizeVector< double, 3 > &	vd
	)

virtual

Evaluate the function.

Evaluate the linear function for the given input. The domain of the input

Parameters

[in]	input	The input to the function. The input domain must be robSpace::TIME
	t	The time
[out]	p	The linear function at time t
[out]	v	The linear velocity
[out]	vd	The linear acceleration

Reimplemented from robFunctionRn.

void robLinearRn::Evaluate	(	double	t,
		vctDynamicVector< double > &	y,
		vctDynamicVector< double > &	yd,
		vctDynamicVector< double > &	ydd
	)

virtual

Evaluate the function.

Evaluate the linear function for the given input. The domain of the input

Parameters

[in]	input	The input to the function. The input domain must be robSpace::TIME
	t	The time
[out]	y	The linear function at time t
[out]	yd	The 1st order time derivative at time t
[out]	ydd	The 2nd order time derivative at time t (always zero)

Reimplemented from robFunctionRn.

vctDynamicVector<double> robLinearRn::Slope ( ) const

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

/home/adeguet1/catkin_ws/src/cisst-saw/cisst/cisstRobot/robLinearRn.h

Public Member Functions

Additional Inherited Members

Detailed Description

Constructor & Destructor Documentation

Member Function Documentation