robLinearRn Class Reference

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 \(L: R^1\rightarrow R^3 \).
	robLinearRn (const vctDynamicVector< double > &y1, const vctDynamicVector< double > &y2, const vctDynamicVector< double > &ydmax, double t1=0.0)
	Define a linear function \(L: R^1\rightarrow R^n \).
void	Evaluate (double t, double &y, double &yd, double &ydd)
	Evaluate the function.
void	Evaluate (double t, vctFixedSizeVector< double, 3 > &p, vctFixedSizeVector< double, 3 > &v, vctFixedSizeVector< double, 3 > &vd)
	Evaluate the function.
void	Evaluate (double t, vctDynamicVector< double > &y, vctDynamicVector< double > &yd, vctDynamicVector< double > &ydd)
	Evaluate the function.
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.
virtual double &	StartTime (void)
	Return start time.
virtual double &	StopTime (void)
	Return stop time.
virtual double	Duration (void) const
	Return duration.

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() [1/2]

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() [2/2]

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

Blend() [1/2]

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

virtual

Implements robFunctionRn.

Blend() [2/2]

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

virtual

Implements robFunctionRn.

Evaluate() [1/3]

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)

Evaluate() [2/3]

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.

Evaluate() [3/3]

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.

Slope()

vctDynamicVector< double > robLinearRn::Slope

(

)

const

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

• tmp/cisst-saw/cisst/cisstRobot/robLinearRn.h