PolyTraj< Dim > Class Template Reference

Trajectory class for solving n-th polynomial with PolySolver. More...

#include <poly_traj.h>

Public Member Functions
	PolyTraj ()
	Simple constructor.
void	clear ()
	Clear.
void	setWaypoints (const vec_E< Waypoint< Dim >> &ws)
	Set waypoints.
void	setTime (const std::vector< decimal_t > &dts)
	Set time allocation.
void	addCoeff (const MatDNf< Dim > &coeff)
	Add coefficients.
vec_E< Primitive< Dim > >	toPrimitives () const
	Convert to Primitive class.
Waypoint< Dim >	evaluate (decimal_t t) const
	Evaluate the waypoint at t.
decimal_t	getTotalTime () const
	Get the total time for the trajectory.
MatDNf< Dim >	p ()
	Get the p.

Private Attributes
std::vector< decimal_t >	waypoint_times_
std::vector< decimal_t >	dts_
vec_E< Waypoint< Dim > >	waypoints_
std::deque< MatDNf< Dim >, Eigen::aligned_allocator< MatDNf< Dim > > >	coefficients_

Detailed Description

template<int Dim>
class PolyTraj< Dim >

Trajectory class for solving n-th polynomial with PolySolver.

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

• include/mpl_traj_solver/poly_traj.h
• src/mpl_traj_solver/poly_traj.cpp