#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 $Q: R^1\rightarrow R^3$ . More...

	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 $Q: R^1\rightarrow R^N$ . More...

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. 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

Constructor & Destructor Documentation

robQuintic::robQuintic ( void )

Default constructor

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::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 $\mathbf{y}''_2 = Q(t_2)$

virtual robQuintic::~robQuintic ( )

inlinevirtual

Member Function Documentation

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

virtual

Implements robFunctionRn.

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

virtual

Implements robFunctionRn.

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

virtual

Reimplemented from robFunctionRn.

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

virtual

Reimplemented from robFunctionRn.

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
	)

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

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

Public Member Functions

Additional Inherited Members

Constructor & Destructor Documentation

Member Function Documentation