CubicSplineInterpolator< T > Class Template Reference

This class represents a 3-degree polynomial function, used in Cubic Splines hence the name CubicSegment. More...

#include <CubicSplineInterpolator.hpp>

Inherits Interpolator< T >.

Public Member Functions
	CubicSplineInterpolator (const T &a, const T &b, const T &c, const T &d, double duration)
T	x (double t) const
	Position at time t. More...
T	dx (double t) const
	Velocity at time t. More...
T	ddx (double t) const
	Acceleration at time t. More...
double	duration () const
	Returns the duration of the interpolator. More...
Public Member Functions inherited from Interpolator< T >
virtual	~Interpolator ()
	Virtual destructor.

Additional Inherited Members
Public Types inherited from Interpolator< T >
typedef rw::core::Ptr< Interpolator >	Ptr
	smart pointer type to this class

Detailed Description

template<class T>
class rw::trajectory::CubicSplineInterpolator< T >

This class represents a 3-degree polynomial function, used in Cubic Splines hence the name CubicSegment.

\( \bf{f}(t)= \bf{a} + \bf{b}\cdot t + \bf{c}\cdot t^2 \bf{d}\cdot t^3 \)

Member Function Documentation

ddx()

T ddx ( double  t ) const

inlinevirtual

Acceleration at time t.

Parameters

t	[in] time between 0 and length

Returns

Acceleration

Note

The second derivative is a 1-degree polynomial: \( \bf{df}(t)= 2\cdot \bf{c} + 6\cdot \bf{d}\cdot t \)

Implements Interpolator< T >.

duration()

double duration ( ) const

inlinevirtual

Returns the duration of the interpolator.

The duration is defined as the time it takes to move from one end of the interpolator to the other.

Returns

duration

Implements Interpolator< T >.

dx()

T dx ( double  t ) const

inlinevirtual

Velocity at time t.

Parameters

t	[in] time between 0 and length

Returns

Velocity

Note

The derivative is a 2-degree polynomial: \( \bf{df}(t)= \bf{b} + 2\cdot \bf{c}\cdot t + 3\cdot \bf{d}\cdot t^2 \)

Implements Interpolator< T >.

x()

T x ( double  t ) const

inlinevirtual

Position at time t.

Parameters

t	[in] time between 0 and length

Returns

Position

Note

The cubic polynomial is given by a 3-degree polynomial: \( \bf{f}(t)= \bf{a} + \bf{b}\cdot t + \bf{c}\cdot t^2 \bf{d}\cdot t^3 \)

Implements Interpolator< T >.

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

• CubicSplineInterpolator.hpp