robQuintic Class Reference

#include <robQuintic.h>

Inheritance diagram for robQuintic:

Public Member Functions
	robQuintic (void)
	robQuintic (double t1, const vctFixedSizeVector< double, 3 > &y1, const vctFixedSizeVector< double, 3 > &y1d, const vctFixedSizeVector< double, 3 > &y1dd, double t2, const vctFixedSizeVector< double, 3 > &y2, const vctFixedSizeVector< double, 3 > &y2d, const vctFixedSizeVector< double, 3 > &y2dd)
	Define a 3D quintic function \(Q: R^1\rightarrow R^3 \).
	robQuintic (double t1, const vctDynamicVector< double > &y1, const vctDynamicVector< double > &y1d, const vctDynamicVector< double > &y1dd, double t2, const vctDynamicVector< double > &y2, const vctDynamicVector< double > &y2d, const vctDynamicVector< double > &y2dd)
	Define a N quintic functions \(Q: R^1\rightarrow R^N \).
virtual	~robQuintic ()
void	Set (double t1, const vctDynamicVector< double > &y1, const vctDynamicVector< double > &y1d, const vctDynamicVector< double > &y1dd, double t2, const vctDynamicVector< double > &y2, const vctDynamicVector< double > &y2d, const vctDynamicVector< double > &y2dd)
void	Evaluate (double t, vctFixedSizeVector< double, 3 > &y, vctFixedSizeVector< double, 3 > &yd, vctFixedSizeVector< double, 3 > &ydd)
void	Evaluate (double t, vctDynamicVector< double > &y, vctDynamicVector< double > &yd, vctDynamicVector< double > &ydd)
void	Blend (robFunction *function, const vctDynamicVector< double > &qdmax, const vctDynamicVector< double > &qddmax)
void	Blend (robFunction *, double, double)
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

Constructor & Destructor Documentation

robQuintic() [1/3]

robQuintic::robQuintic

(

void

)

Default constructor

robQuintic() [2/3]

robQuintic::robQuintic	(	double	t1,
		const vctFixedSizeVector< double, 3 > &	y1,
		const vctFixedSizeVector< double, 3 > &	y1d,
		const vctFixedSizeVector< double, 3 > &	y1dd,
		double	t2,
		const vctFixedSizeVector< double, 3 > &	y2,
		const vctFixedSizeVector< double, 3 > &	y2d,
		const vctFixedSizeVector< double, 3 > &	y2dd )

Define a 3D quintic function \(Q: R^1\rightarrow R^3 \).

Define a 5th order polynomial 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 \(\mathbf{y}_1 = Q(t_1)\)
y1d	The value \(\mathbf{y}'_1 = Q(t_1)\)
y1dd	The value \(\mathbf{y}''_1 = Q(t_1)\)
t2	The final time
y2	The value \(\mathbf{y}_2 = Q(t_2)\)
y2d	The value \(\mathbf{y}'_2 = Q(t_2)\)
y2dd	The value \(\mathbf{y}''_2 = Q(t_2)\)

robQuintic() [3/3]

robQuintic::robQuintic	(	double	t1,
		const vctDynamicVector< double > &	y1,
		const vctDynamicVector< double > &	y1d,
		const vctDynamicVector< double > &	y1dd,
		double	t2,
		const vctDynamicVector< double > &	y2,
		const vctDynamicVector< double > &	y2d,
		const vctDynamicVector< double > &	y2dd )

Define a N quintic functions \(Q: R^1\rightarrow R^N \).

Define a N 5th order polynomials passing throuh \((t_1,{y}_1^i)\) and \((t_2,{y}_2^i)\). 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 \(\mathbf{y}_1 = Q(t_1)\)
y1d	The value \(\mathbf{y}'_1 = Q(t_1)\)
y1dd	The value \(\mathbf{y}''_1 = Q(t_1)\)
t2	The final time
y2	The value \(\mathbf{y}_2 = Q(t_2)\)
y2d	The value \(\mathbf{y}'_2 = Q(t_2)\)
y2dd	The value \(\mathbf{y}''_2 = Q(t_2)\)

~robQuintic()

virtual robQuintic::~robQuintic ( )

inlinevirtual

Member Function Documentation

Blend() [1/2]

void robQuintic::Blend ( robFunction * , double , double  )

virtual

Implements robFunctionRn.

Blend() [2/2]

void robQuintic::Blend ( robFunction * function, const vctDynamicVector< double > & qdmax, const vctDynamicVector< double > & qddmax )

virtual

Implements robFunctionRn.

Evaluate() [1/2]

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

virtual

Reimplemented from robFunctionRn.

Evaluate() [2/2]

void robQuintic::Evaluate ( double t, vctFixedSizeVector< double, 3 > & y, vctFixedSizeVector< double, 3 > & yd, vctFixedSizeVector< double, 3 > & ydd )

virtual

Reimplemented from robFunctionRn.

Set()

void robQuintic::Set	(	double	t1,
		const vctDynamicVector< double > &	y1,
		const vctDynamicVector< double > &	y1d,
		const vctDynamicVector< double > &	y1dd,
		double	t2,
		const vctDynamicVector< double > &	y2,
		const vctDynamicVector< double > &	y2d,
		const vctDynamicVector< double > &	y2dd )

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

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