Cubic Hermite spline. More...

#include <CubicHermiteSpline.h>

Inheritance diagram for TrajColl::CubicHermiteSpline< T >:

Collaboration diagram for TrajColl::CubicHermiteSpline< T >:

Public Member Functions
	CubicHermiteSpline (int dim, const std::map< double, std::pair< T, T >> &points={})
	Constructor. More...

const std::map< double, std::pair< T, T > > &	points () const noexcept
	Access points. More...

void	clearPoints ()
	Clear points. More...

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

void	calcCoeff ()
	Calculate coefficients. More...

virtual T	operator() (double t) const override
	Evaluate function value. More...

virtual T	derivative (double t, int order=1) const override
	Evaluate function derivative value. More...

void	calcMonotoneVelocity (bool keepStartVel=false, bool keepEndVel=false)
	Overwrite the velocity with keeping the time and position for making cubic Hermite spline monotone. More...

Public Member Functions inherited from TrajColl::PiecewiseFunc< T >
	PiecewiseFunc ()
	Constructor. More...

virtual size_t	index (double t) const
	Get the index of piecewise functions. More...

virtual double	domainLowerLimit () const override
	Get lower limit of domain. More...

virtual double	domainUpperLimit () const override
	Get upper limit of domain. More...

void	clearFuncs ()
	Clear function. More...

void	appendFunc (double t, std::shared_ptr< Func< T >> func)
	Add function. More...

void	setDomainLowerLimit (double t)
	Set lower limit of domain. More...

Public Member Functions inherited from TrajColl::Func< T >
	Func ()
	Constructor. More...

Protected Member Functions
std::pair< double, double >	argSegment (double t) const
	Get the piecewise segment. More...

Protected Member Functions inherited from TrajColl::PiecewiseFunc< T >
void	checkArg (double t) const
	Check argument of function. More...

Protected Attributes
int	dim_
	Dimension of value. More...

std::map< double, std::pair< T, T > >	points_
	Times, positions, and velocities in way points. More...

Protected Attributes inherited from TrajColl::PiecewiseFunc< T >
std::map< double, std::shared_ptr< Func< T > > >	funcs_
	Map of upper bound of domain and function. More...

double	tLowerLimit_ = std::numeric_limits<double>::lowest()
	Lower limit of domain of this function. More...

Detailed Description

template<class T>
class TrajColl::CubicHermiteSpline< T >

Cubic Hermite spline.

Template Parameters

T	function value type

Definition at line 13 of file CubicHermiteSpline.h.

Constructor & Destructor Documentation

◆ CubicHermiteSpline()

template<class T >

TrajColl::CubicHermiteSpline< T >::CubicHermiteSpline	(	int	dim,
		const std::map< double, std::pair< T, T >> &	points = `{}`
	)

inline

Constructor.

Parameters

dim	dimension of value
points	times, positions, and velocities in way points

Definition at line 20 of file CubicHermiteSpline.h.

Member Function Documentation

◆ appendPoint()

template<class T >

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

inline

Add point.

Parameters

point time, position, and velocity of way point

Definition at line 37 of file CubicHermiteSpline.h.

◆ argSegment()

template<class T >

std::pair<double, double> TrajColl::CubicHermiteSpline< T >::argSegment ( double t ) const

inlineprotected

Get the piecewise segment.

Parameters

t	arugment of function

Definition at line 230 of file CubicHermiteSpline.h.

◆ calcCoeff()

template<class T >

void TrajColl::CubicHermiteSpline< T >::calcCoeff ( )

inline

Calculate coefficients.

See https://en.wikipedia.org/wiki/Cubic_Hermite_spline#Interpolation_on_an_arbitrary_interval for the algorithm

Definition at line 46 of file CubicHermiteSpline.h.

◆ calcMonotoneVelocity()

template<class T >

void TrajColl::CubicHermiteSpline< T >::calcMonotoneVelocity	(	bool	keepStartVel = `false`,
		bool	keepEndVel = `false`
	)

inline

Overwrite the velocity with keeping the time and position for making cubic Hermite spline monotone.

Parameters

keepStartVel	Whether to try to keep the start velocity which is stored in points_ (just an attempt, so actually changed)
keepEndVel	Whether to try to keep the end velocity which is stored in points_ (just an attempt, so actually changed)

See https://en.wikipedia.org/wiki/Monotone_cubic_interpolation#Interpolant_selection for the algorithm

Definition at line 117 of file CubicHermiteSpline.h.

◆ clearPoints()

template<class T >

void TrajColl::CubicHermiteSpline< T >::clearPoints ( )

inline

Clear points.

Definition at line 29 of file CubicHermiteSpline.h.

◆ derivative()

template<class T >

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

inlineoverridevirtual

Evaluate function derivative value.

Parameters

t	arugment of function
order	derivative order

Reimplemented from TrajColl::PiecewiseFunc< T >.

Definition at line 100 of file CubicHermiteSpline.h.

◆ operator()()

template<class T >

virtual T TrajColl::CubicHermiteSpline< T >::operator() ( double t ) const

inlineoverridevirtual

Evaluate function value.

Parameters

t	arugment of function

Reimplemented from TrajColl::PiecewiseFunc< T >.

Definition at line 86 of file CubicHermiteSpline.h.

◆ points()

template<class T >

const std::map<double, std::pair<T, T> >& TrajColl::CubicHermiteSpline< T >::points ( ) const

inlinenoexcept

Access points.

Definition at line 23 of file CubicHermiteSpline.h.

Member Data Documentation

◆ dim_

template<class T >

int TrajColl::CubicHermiteSpline< T >::dim_

protected

Dimension of value.

Definition at line 242 of file CubicHermiteSpline.h.

◆ points_

template<class T >

std::map<double, std::pair<T, T> > TrajColl::CubicHermiteSpline< T >::points_

protected

Times, positions, and velocities in way points.

Definition at line 245 of file CubicHermiteSpline.h.

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

/home/runner/work/TrajectoryCollection/TrajectoryCollection/colcon_ws/src/isri-aist/TrajectoryCollection/include/TrajColl/CubicHermiteSpline.h

Public Member Functions

Protected Member Functions

Protected Attributes

Detailed Description

template<class T> class TrajColl::CubicHermiteSpline< T >

Constructor & Destructor Documentation

◆ CubicHermiteSpline()

Member Function Documentation

◆ appendPoint()

◆ argSegment()

◆ calcCoeff()

◆ calcMonotoneVelocity()

◆ clearPoints()

◆ derivative()

◆ operator()()

◆ points()

Member Data Documentation

◆ dim_

◆ points_

template<class T>
class TrajColl::CubicHermiteSpline< T >