Primitive< Dim > Class Template Reference

Primitive class. More...

#include <primitive.h>

Public Member Functions
	Primitive ()
	Empty constructor.
	Primitive (const Waypoint< Dim > &p, const VecDf &u, decimal_t t)
	Construct from an initial state p and an input control u for a given duration t. More...
	Primitive (const Waypoint< Dim > &p1, const Waypoint< Dim > &p2, decimal_t t)
	Construct from an initial state p1 and a goal state p2 for a given duration t.
	Primitive (const vec_E< Vec6f > &cs, decimal_t t, Control::Control control)
	Construct from given coefficients and duration . More...
Waypoint< Dim >	evaluate (decimal_t t) const
	Return Waypoint at time . More...
decimal_t	t () const
	Return duration .
Control::Control	control () const
	Get the control indicator.
Primitive1D	pr (int k) const
	Get the 1D primitive. More...
Primitive1D	pr_yaw () const
	Get the yaw primitive.
decimal_t	max_vel (int k) const
	Return max velocity along one axis. More...
decimal_t	max_acc (int k) const
	Return max accleration along one axis. More...
decimal_t	max_jrk (int k) const
	Return max jerk along k-th dimension.
decimal_t	J (const Control::Control &control) const
	Return total efforts for the given duration. More...
decimal_t	Jyaw () const
	Return total yaw efforts for the given duration.
vec_E< Waypoint< Dim > >	sample (int N) const
	Sample N+1 Waypoints using uniformed time.

Public Attributes
decimal_t	t_
	Duration.
Control::Control	control_
	Control.
std::array< Primitive1D, Dim >	prs_
	By default, primitive class contains Dim 1D primitive.
Primitive1D	pr_yaw_
	Primitive for yaw.

Detailed Description

template<int Dim>
class Primitive< Dim >

Primitive class.

Contains 1D primitives corresponding to each axis individually.

Constructor & Destructor Documentation

Primitive() [1/2]

template<int Dim>

Primitive< Dim >::Primitive ( const Waypoint< Dim > &  p, const VecDf &  u, decimal_t  t  )

inline

Construct from an initial state p and an input control u for a given duration t.

if the dimension of u is greater than p, use the additional value for yaw control

Primitive() [2/2]

template<int Dim>

Primitive< Dim >::Primitive ( const vec_E< Vec6f > &  cs, decimal_t  t, Control::Control  control  )

inline

Construct from given coefficients and duration .

Note: flag use_xxx is not set in this constructor

Member Function Documentation

evaluate()

template<int Dim>

Waypoint<Dim> Primitive< Dim >::evaluate ( decimal_t  t ) const

inline

Return Waypoint at time .

Note: flag use_xxx is set in the return value and it is equal to the first given Waypoint

J()

template<int Dim>

decimal_t Primitive< Dim >::J ( const Control::Control &  control ) const

inline

Return total efforts for the given duration.

Parameters

control

effort is defined as -th derivative of polynomial

Return J is the summation of efforts in all three dimensions and

max_acc()

template<int Dim>

decimal_t Primitive< Dim >::max_acc ( int  k ) const

inline

Return max accleration along one axis.

Parameters

k	indicates the corresponding axis: 0-x, 1-y, 2-z

max_vel()

template<int Dim>

decimal_t Primitive< Dim >::max_vel ( int  k ) const

inline

Return max velocity along one axis.

Parameters

k	indicates the corresponding axis: 0-x, 1-y, 2-z

pr()

template<int Dim>

Primitive1D Primitive< Dim >::pr ( int  k ) const

inline

Get the 1D primitive.

Parameters

k	indicates the corresponding axis: 0-x, 1-y, 2-z

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

• include/mpl_basis/primitive.h