Cubic spline. More...
#include <CubicSpline.h>
Inheritance diagram for TrajColl::CubicSpline< T >:
Collaboration diagram for TrajColl::CubicSpline< T >:
Public Member Functions | |
| CubicSpline (int dim, const BoundaryConstraint< T > &bcStart, const BoundaryConstraint< T > &bcEnd, const std::map< double, T > &points={}) | |
| Constructor. More... | |
| const std::map< double, T > & | points () const noexcept |
| Access points. More... | |
| void | clearPoints () |
| Clear points. More... | |
| void | appendPoint (const std::pair< double, T > &point) |
| Add point. More... | |
| void | calcCoeff () |
| Calculate coefficients. More... | |
 Public Member Functions inherited from TrajColl::PiecewiseFunc< T > | |
| PiecewiseFunc () | |
| Constructor. 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... | |
| 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 Attributes | |
| int | dim_ |
| Dimension of value. More... | |
| BoundaryConstraint< T > | bcStart_ |
| Boundary constraint of start point. More... | |
| BoundaryConstraint< T > | bcEnd_ |
| Boundary constraint of end point. More... | |
| std::map< double, T > | points_ |
| 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... | |
Additional Inherited Members | |
| Protected Member Functions inherited from TrajColl::PiecewiseFunc< T > | |
| void | checkArg (double t) const |
| Check argument of function. More... | |
Detailed Description
template<class T>
class TrajColl::CubicSpline< T >
Cubic spline.
- Template Parameters
-
T value type
Definition at line 42 of file CubicSpline.h.
Constructor & Destructor Documentation
◆ CubicSpline()
template<class T >
|
inline |
Constructor.
- Parameters
-
dim dimension of value bcStart boundary constraint of start point bcEnd boundary constraint of end point points way points
Definition at line 51 of file CubicSpline.h.
Member Function Documentation
◆ appendPoint()
template<class T >
|
inline |
◆ calcCoeff()
template<class T >
|
inline |
Calculate coefficients.
See https://academiccommons.columbia.edu/doi/10.7916/D82Z1DMQ for the algorithm
Definition at line 83 of file CubicSpline.h.
◆ clearPoints()
template<class T >
|
inline |
Clear points.
Definition at line 66 of file CubicSpline.h.
◆ points()
template<class T >
|
inlinenoexcept |
Access points.
Definition at line 60 of file CubicSpline.h.
Member Data Documentation
◆ bcEnd_
template<class T >
|
protected |
Boundary constraint of end point.
Definition at line 219 of file CubicSpline.h.
◆ bcStart_
template<class T >
|
protected |
Boundary constraint of start point.
Definition at line 216 of file CubicSpline.h.
◆ dim_
template<class T >
|
protected |
Dimension of value.
Definition at line 213 of file CubicSpline.h.
◆ points_
template<class T >
|
protected |
Way points.
Definition at line 222 of file CubicSpline.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/CubicSpline.h
