#include <Trajectory.h>
Public Member Functions | |
SampledTrajectory () | |
Default constructor. | |
SampledTrajectory (Time samplingTime) | |
Parametrical constructor. | |
SampledTrajectory (SampledTrajectory &traj) | |
Copy constructor. | |
void | addTrajectory (AnalyticalTrajectory *traj) |
Builds a SampledTrajectory from an AnalyticalTrajectory. | |
void | getSample (Time instant, Position &pos, Position &posp, Position &pospp) |
Gets a sample on the trajectory . | |
void | clear () |
Clears the current Trajectory. | |
Position | getPos (Time t) |
Evaluate trajectory coordinates for a given time. | |
Position | getFirstDeriv (Time t) |
Evaluate trajectory first derivative for a given time. | |
Position | getSecondDeriv (Time t) |
Evaluate trajectory second derivative for a given time. |
A sampled trajectory is a Trajectory given by a sequences of points.
MipBaselib::SampledTrajectory::SampledTrajectory | ( | ) |
Default constructor.
MipBaselib::SampledTrajectory::SampledTrajectory | ( | Time | samplingTime | ) |
Parametrical constructor.
MipBaselib::SampledTrajectory::SampledTrajectory | ( | SampledTrajectory & | traj | ) |
Copy constructor.
void MipBaselib::SampledTrajectory::addTrajectory | ( | AnalyticalTrajectory * | traj | ) |
Builds a SampledTrajectory from an AnalyticalTrajectory.
void MipBaselib::SampledTrajectory::getSample | ( | Time | instant, | |
Position & | pos, | |||
Position & | posp, | |||
Position & | pospp | |||
) |
Gets a sample on the trajectory .
void MipBaselib::SampledTrajectory::clear | ( | void | ) |
Clears the current Trajectory.
Evaluate trajectory coordinates for a given time.
[in] | t | Time. |
Implements MipBaselib::Trajectory.
Evaluate trajectory first derivative for a given time.
[in] | t | Time. |
Implements MipBaselib::Trajectory.
Evaluate trajectory second derivative for a given time.
[in] | t | Time. |
Implements MipBaselib::Trajectory.