Trajectory< P, V, A > Class Template Reference

#include <trajectory.hpp>

Public Member Functions
virtual P	getPosition (double t_sec) const =0
virtual V	getVelocity (double t_sec) const =0
virtual A	getAcceleration (double t_sec) const =0
virtual double	getTotalTime () const =0
P	getDestination () const

Detailed Description

template<class P, class V, class A>
class Trajectory< P, V, A >

Interface for a trajectory

A trajectory is a path that is parameterized by time. It is a function that takes in a time and returns a position, velocity, and acceleration.

Template Parameters

P	The type of position
V	The type of velocity
A	The type of acceleration

Member Function Documentation

getAcceleration()

template<class P , class V , class A >

virtual A getAcceleration ( double  t_sec ) const

pure virtual

Get acceleration at time t

Parameters

t_sec

Duration elapsed since start of trajectory in seconds

Returns

acceleration

Implemented in BangBangTrajectory1D, BangBangTrajectory1DAngular, BangBangTrajectory2D, and TrajectoryPath.

getDestination()

template<class P , class V , class A >

P getDestination ( ) const

inline

Get the final desired destination

Returns

The position which the trajectory ends at

getPosition()

template<class P , class V , class A >

virtual P getPosition ( double  t_sec ) const

pure virtual

Get position at time t

Parameters

t_sec

Duration elapsed since start of trajectory in seconds

Returns

position

Implemented in BangBangTrajectory1D, BangBangTrajectory1DAngular, BangBangTrajectory2D, and TrajectoryPath.

getTotalTime()

template<class P , class V , class A >

virtual double getTotalTime ( ) const

pure virtual

Get total runtime of trajectory

Returns

total time for trajectory in seconds

Implemented in BangBangTrajectory1D, BangBangTrajectory1DAngular, BangBangTrajectory2D, and TrajectoryPath.

getVelocity()

template<class P , class V , class A >

virtual V getVelocity ( double  t_sec ) const

pure virtual

Get velocity at time t

Parameters

t_sec

Duration elapsed since start of trajectory in seconds

Returns

velocity

Implemented in BangBangTrajectory1D, BangBangTrajectory1DAngular, BangBangTrajectory2D, and TrajectoryPath.

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

• src/software/ai/navigator/trajectory/trajectory.hpp