Interpolator with bang-bang control. More...

#include <BangBangInterpolator.h>

Inheritance diagram for TrajColl::BangBangInterpolator< T, U >:

Collaboration diagram for TrajColl::BangBangInterpolator< T, U >:

Public Member Functions
	BangBangInterpolator (const std::map< double, T > &points={}, const std::vector< double > &accelDurationList={})
	Constructor. More...

	BangBangInterpolator (const BangBangInterpolator &inst)
	Copy constructor. More...

virtual std::shared_ptr< Interpolator< T, U > >	clone () const override
	Clone this instance and get shared pointer. More...

virtual void	clearPoints () override
	Clear points. More...

virtual void	appendPoint (const std::pair< double, T > &point) override
	Add point. More...

void	appendPoint (const std::pair< double, T > &point, double accelDuration)
	Add point. More...

virtual void	calcCoeff () override
	Calculate coefficients. More...

virtual T	operator() (double t) const override
	Calculate interpolated value. More...

virtual U	derivative (double t, int order=1) const override
	Calculate the derivative of interpolated value. More...

Public Member Functions inherited from TrajColl::Interpolator< T, T >
	Interpolator (const std::map< double, T > &points={})
	Constructor. More...

	Interpolator (const Interpolator &inst)
	Copy constructor. More...

virtual std::shared_ptr< Interpolator< T, T > >	clone () const=0
	Clone this instance and get shared pointer. More...

double	startTime () const
	Get start time. More...

double	endTime () const
	Get end time. More...

const std::map< double, T > &	points () const
	Get points. More...

Protected Attributes
std::vector< double >	accelDurationList_
	List of acceleration/deceleration duration. More...

std::shared_ptr< PiecewiseFunc< double > >	func_
	Function to calculate the ratio of interpolation points. More...

Protected Attributes inherited from TrajColl::Interpolator< T, T >
std::map< double, T >	points_
	Times and values to be interpolated. More...

Detailed Description

template<class T, class U = T>
class TrajColl::BangBangInterpolator< T, U >

Interpolator with bang-bang control.

Template Parameters

T	value type
U	derivative type

The velocity of each waypoint is assumed to be zero.

Definition at line 16 of file BangBangInterpolator.h.

Constructor & Destructor Documentation

◆ BangBangInterpolator() [1/2]

template<class T , class U = T>

TrajColl::BangBangInterpolator< T, U >::BangBangInterpolator	(	const std::map< double, T > &	points = `{}`,
		const std::vector< double > &	accelDurationList = `{}`
	)

inline

Constructor.

Parameters

points	times and values to be interpolated
accelDurationList	list of acceleration/deceleration duration

Definition at line 23 of file BangBangInterpolator.h.

◆ BangBangInterpolator() [2/2]

template<class T , class U = T>

TrajColl::BangBangInterpolator< T, U >::BangBangInterpolator ( const BangBangInterpolator< T, U > & inst )

inline

Copy constructor.

Definition at line 42 of file BangBangInterpolator.h.

Member Function Documentation

◆ appendPoint() [1/2]

template<class T , class U = T>

virtual void TrajColl::BangBangInterpolator< T, U >::appendPoint ( const std::pair< double, T > & point )

inlineoverridevirtual

Add point.

Parameters

point time and value

Note: BangBangInterpolator::calcCoeff should be called before calling BangBangInterpolator::operator().

Implements TrajColl::Interpolator< T, T >.

Definition at line 66 of file BangBangInterpolator.h.

◆ appendPoint() [2/2]

template<class T , class U = T>

void TrajColl::BangBangInterpolator< T, U >::appendPoint	(	const std::pair< double, T > &	point,
		double	accelDuration
	)

inline

Add point.

Parameters

point	time and value
accelDuration	acceleration/deceleration duration (automatically determined if zero is specified)

Note: BangBangInterpolator::calcCoeff should be called before calling BangBangInterpolator::operator().

Definition at line 77 of file BangBangInterpolator.h.

◆ calcCoeff()

template<class T , class U = T>

virtual void TrajColl::BangBangInterpolator< T, U >::calcCoeff ( )

inlineoverridevirtual

Calculate coefficients.

Implements TrajColl::Interpolator< T, T >.

Definition at line 113 of file BangBangInterpolator.h.

◆ clearPoints()

template<class T , class U = T>

virtual void TrajColl::BangBangInterpolator< T, U >::clearPoints ( )

inlineoverridevirtual

Clear points.

Reimplemented from TrajColl::Interpolator< T, T >.

Definition at line 55 of file BangBangInterpolator.h.

◆ clone()

template<class T , class U = T>

virtual std::shared_ptr<Interpolator<T, U> > TrajColl::BangBangInterpolator< T, U >::clone ( ) const

inlineoverridevirtual

Clone this instance and get shared pointer.

Definition at line 49 of file BangBangInterpolator.h.

◆ derivative()

template<class T , class U = T>

virtual U TrajColl::BangBangInterpolator< T, U >::derivative	(	double	t,
		int	order = `1`
	)		const

inlineoverridevirtual

Calculate the derivative of interpolated value.

Parameters

t	time
order	derivative order

It is assumed that interpolateDerivative() returns zero if derivative order is greater than or equal to 2.

Implements TrajColl::Interpolator< T, T >.

Definition at line 169 of file BangBangInterpolator.h.

◆ operator()()

template<class T , class U = T>

virtual T TrajColl::BangBangInterpolator< T, U >::operator() ( double t ) const

inlineoverridevirtual

Calculate interpolated value.

Parameters

t time

Implements TrajColl::Interpolator< T, T >.

Definition at line 155 of file BangBangInterpolator.h.

Member Data Documentation

◆ accelDurationList_

template<class T , class U = T>

std::vector<double> TrajColl::BangBangInterpolator< T, U >::accelDurationList_

protected

List of acceleration/deceleration duration.

Definition at line 181 of file BangBangInterpolator.h.

◆ func_

template<class T , class U = T>

std::shared_ptr<PiecewiseFunc<double> > TrajColl::BangBangInterpolator< T, U >::func_

protected

Function to calculate the ratio of interpolation points.

Definition at line 184 of file BangBangInterpolator.h.

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

/home/runner/work/TrajectoryCollection/TrajectoryCollection/catkin_ws/src/TrajectoryCollection/include/TrajColl/BangBangInterpolator.h

Public Member Functions

Protected Attributes

Detailed Description

template<class T, class U = T> class TrajColl::BangBangInterpolator< T, U >

Constructor & Destructor Documentation

◆ BangBangInterpolator() [1/2]

◆ BangBangInterpolator() [2/2]

Member Function Documentation

◆ appendPoint() [1/2]

◆ appendPoint() [2/2]

◆ calcCoeff()

◆ clearPoints()

◆ clone()

◆ derivative()

◆ operator()()

Member Data Documentation

◆ accelDurationList_

◆ func_

template<class T, class U = T>
class TrajColl::BangBangInterpolator< T, U >