TrajectoryIterator< T > Class Template Reference

Forward declaration of Trajectory Iterator (needed for friend declaration) More...

#include <TrajectoryIterator.hpp>

Inherited by InterpolatorTrajectoryIterator< T >.

Public Types
typedef rw::core::Ptr< TrajectoryIterator< T > >	Ptr
	smart pointer type

Public Member Functions
virtual	~TrajectoryIterator ()
	destructor
virtual double	getTime () const =0
	Returns the current position (time) of the iterator. More...
virtual void	inc ()=0
	Method for increasing the position of the iterator a fixed amount. More...
virtual void	inc (double dt)=0
	Method for increasing the position of the iterator by dt. More...
virtual void	dec ()=0
	Method for decreasing the position of the iterator a fixed amount. More...
virtual void	dec (double dt)=0
	Method for decreasing the position of the iterator a fixed amount. More...
virtual void	operator-= (double dt)
	This function can be used to decrease the iterator position. The position can be decreased no longer than to time equals 0. More...
virtual void	operator+= (double dt)
	This function can be used to increase the iterator position. The position can be increased no longer than the length of the complete trajectory. More...
virtual TrajectoryIterator &	operator++ ()
	Operator overloading ++ for increasing the position of the iterator. More...
virtual void	operator++ (int)
	Operator overloading ++ for increasing the position of the iterator. More...
virtual TrajectoryIterator &	operator-- ()
	Operator overloading – for decreasing the position of the iterator. More...
virtual void	operator-- (int)
	Operator overloading – for decreasing the position of the iterator. More...
virtual bool	isEnd () const =0
	Test if the end of the trajectory is reached. More...
virtual bool	isBegin () const =0
	Test if the beginning of the trajectory is reached. More...
virtual T	operator* () const =0
	Extracts a point at the current position in the trajectory. More...
virtual T	x () const =0
	Extracts a point at the current position in the trajectory. More...
virtual T	dx () const =0
	Extracts a point of the derivative of the trajectory at the current position in the trajectory. More...
virtual T	ddx () const =0
	Extracts a point of the double derivative of the trajectory at the current position in the trajectory. More...

Detailed Description

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

Forward declaration of Trajectory Iterator (needed for friend declaration)

Bi-directional iterator for running efficiently through a trajectory.

Member Function Documentation

ddx()

virtual T ddx ( ) const

pure virtual

Extracts a point of the double derivative of the trajectory at the current position in the trajectory.

Returns

the double derived point at the current position in the trajectory.

Implemented in InterpolatorTrajectoryIterator< T >.

dec() [1/2]

virtual void dec ( )

pure virtual

Method for decreasing the position of the iterator a fixed amount.

The decrement is equal to the dt specified in the constructor.

dec() [2/2]

virtual void dec ( double  dt )

pure virtual

Method for decreasing the position of the iterator a fixed amount.

Parameters

dt	[in] Amount to decrease. A positive value is expected

dx()

virtual T dx ( ) const

pure virtual

Extracts a point of the derivative of the trajectory at the current position in the trajectory.

Returns

the derived point at the current position in the trajectory.

Implemented in InterpolatorTrajectoryIterator< T >.

getTime()

virtual double getTime ( ) const

pure virtual

Returns the current position (time) of the iterator.

Returns

The current time.

inc() [1/2]

virtual void inc ( )

pure virtual

Method for increasing the position of the iterator a fixed amount.

The increment is equal to the dt specified in the constructor.

inc() [2/2]

virtual void inc ( double  dt )

pure virtual

Method for increasing the position of the iterator by dt.

Parameters

dt	[in] Amount to increase. A positive value is expected.

isBegin()

virtual bool isBegin ( ) const

pure virtual

Test if the beginning of the trajectory is reached.

Returns

true if the iterator has reached the beginning of the trajectory false otherwise.

isEnd()

virtual bool isEnd ( ) const

pure virtual

Test if the end of the trajectory is reached.

Returns

true if the iterator has reached the end of the trajectory false otherwise.

operator*()

virtual T operator* ( ) const

pure virtual

Extracts a point at the current position in the trajectory.

Returns

the point at the current position in the trajectory.

Implemented in InterpolatorTrajectoryIterator< T >.

operator++() [1/2]

virtual TrajectoryIterator& operator++ ( )

inlinevirtual

Operator overloading ++ for increasing the position of the iterator.

Usage: ++iterator

The increment is equal to the dt specified in the constructor.

Returns

Reference to the TrajectoryIterator

Reimplemented in InterpolatorTrajectoryIterator< T >.

operator++() [2/2]

virtual void operator++ ( int  )

inlinevirtual

Operator overloading ++ for increasing the position of the iterator.

Usage: iterator++

The increment is equal to the dt specified in the constructor.

operator+=()

virtual void operator+= ( double  dt )

inlinevirtual

This function can be used to increase the iterator position. The position can be increased no longer than the length of the complete trajectory.

Parameters

dt	[in] a double that describes how much to increase the iterator position

Reimplemented in InterpolatorTrajectoryIterator< T >.

operator--() [1/2]

virtual TrajectoryIterator& operator-- ( )

inlinevirtual

Operator overloading – for decreasing the position of the iterator.

Usage: –iterator;

The decrement is equal to the dt specified in the constructor.

Returns

Reference to the TrajectoryIterator

Reimplemented in InterpolatorTrajectoryIterator< T >.

operator--() [2/2]

virtual void operator-- ( int  )

inlinevirtual

Operator overloading – for decreasing the position of the iterator.

Usage: iterator–;

The decrement is equal to the dt specified in the constructor.

operator-=()

virtual void operator-= ( double  dt )

inlinevirtual

This function can be used to decrease the iterator position. The position can be decreased no longer than to time equals 0.

Parameters

dt	[in] a double that describes how much to decrease the iterator position

Reimplemented in InterpolatorTrajectoryIterator< T >.

x()

virtual T x ( ) const

pure virtual

Extracts a point at the current position in the trajectory.

Returns

the point at the current position in the trajectory.

Implemented in InterpolatorTrajectoryIterator< T >.

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

• InterpolatorTrajectory.hpp
• TrajectoryIterator.hpp