Trajectory class. More...

#include <trajectory.h>

Public Member Functions
	Trajectory ()
	Empty constructor.

	Trajectory (const vec_E< Primitive< Dim >> &prs)
	Construct from multiple primitives.

Waypoint< Dim >	evaluate (decimal_t time) const
	Evaluate Waypoint at time . More...

bool	evaluate (decimal_t time, Command< Dim > &p) const
	Evaluate Command at , return false if fails to evaluate. More...

bool	scale (decimal_t ri, decimal_t rf)
	Scale according to ratio at start and end (velocity only)

bool	scale_down (decimal_t mv, decimal_t ri, decimal_t rf)
	Scale down the whole trajectory according to mv.

vec_E< Command< Dim > >	sample (int N) const
	Sample N+1 Command along trajectory using uniformed time.

decimal_t	J (const Control::Control &control) const
	Return total efforts of Primitive for the given duration: $J(i) = \int_0^T \|p^{i}(t)\|^2dt$ . More...

decimal_t	Jyaw () const
	Return total yaw efforts for the given duration: $J_{yaw} = \int_0^T \|\dot{\phi}(t)\|^2dt$ . More...

std::vector< decimal_t >	getSegmentTimes () const
	Get time of each segment.

vec_E< Waypoint< Dim > >	getWaypoints () const
	Get intermediate Waypoint on the trajectory.

vec_E< Primitive< Dim > >	getPrimitives () const
	Get Primitive array.

Lambda	lambda () const
	Get the scaling factor Lambda.

decimal_t	getTotalTime () const
	Get the total duration of Trajectory.

Public Attributes
vec_E< Primitive< Dim > >	segs
	Segments of primitives.

std::vector< decimal_t >	taus
	Time in virtual domain.

std::vector< decimal_t >	Ts
	Time in actual domain.

decimal_t	total_t_
	Total time of the trajectory.

Lambda	lambda_
	Scaling object.

Detailed Description

template<int Dim>
class Trajectory< Dim >

Trajectory class.

A trajectory is composed by multiple end-to-end connected primitives, so-called piece-wise polynomials

Member Function Documentation

◆ evaluate() [1/2]

template<int Dim>

Waypoint<Dim> Trajectory< Dim >::evaluate ( decimal_t time ) const

inline

Evaluate Waypoint at time $t$ .

If t is out of scope, we set t to be the closer bound (0 or total_t_) and return the evaluation; The failure case is when lambda is ill-posed such that $t = \lambda(\tau)^{-1}$ has no solution, in which a null Waypoint is returned

◆ evaluate() [2/2]

template<int Dim>

bool Trajectory< Dim >::evaluate	(	decimal_t	time,
		Command< Dim > &	p
	)		const

inline

Evaluate Command at $t$ , return false if fails to evaluate.

If $t$ is out of scope, we set $t$ to be the closer bound (0 or total_t_) and return the evaluation; The failure case is when lambda is ill-posed such that $t = \lambda(\tau)^{-1}$ has no solution.

◆ J()

template<int Dim>

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

inline

Return total efforts of Primitive for the given duration: $J(i) = \int_0^T |p^{i}(t)|^2dt$ .

Parameters

control Flag that indicates the order of derivative

Return J is the summation of efforts in all three dimensions. Control::VEL or Control::VELxYAW corresponds to $i = 1$ ; Control::ACC or Control::ACCxYAW corresponds to $i = 2$ ; Control::JRK or Control::JRKxYAW corresponds to $i = 3$ ; Control::SNP or Control::SNPxYAW corresponds to $i = 4$ .