TrajColl::Interpolator< T, U > Class Template Reference

Interpolator of a sequence of waypoints. More...

#include <Interpolator.h>

Public Member Functions
	Interpolator (const std::map< double, T > &points={})
	Constructor. More...
	Interpolator (const Interpolator &inst)
	Copy constructor. More...
virtual std::shared_ptr< Interpolator< T, U > >	clone () const =0
	Clone this instance and get shared pointer. More...
virtual void	clearPoints ()
	Clear points. More...
virtual void	appendPoint (const std::pair< double, T > &point)=0
	Add point. More...
virtual void	calcCoeff ()=0
	Calculate coefficients. More...
virtual T	operator() (double t) const =0
	Calculate interpolated value. More...
virtual U	derivative (double t, int order=1) const =0
	Calculate the derivative of interpolated value. 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::map< double, T >	points_
	Times and values to be interpolated. More...

Detailed Description

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

Interpolator of a sequence of waypoints.

Template Parameters

T	value type
U	derivative type

The velocity of each waypoint is assumed to be zero.

Definition at line 14 of file Interpolator.h.

Constructor & Destructor Documentation

Interpolator() [1/2]

template<class T , class U = T>

TrajColl::Interpolator< T, U >::Interpolator ( const std::map< double, T > &  points = {} )

inline

Constructor.

Parameters

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

Definition at line 21 of file Interpolator.h.

Interpolator() [2/2]

template<class T , class U = T>

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

inline

Copy constructor.

Definition at line 24 of file Interpolator.h.

Member Function Documentation

appendPoint()

template<class T , class U = T>

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

pure virtual

Add point.

Parameters

point

time and value

Note

Interpolator::calcCoeff should be called before calling Interpolator::operator().

Implemented in TrajColl::CubicInterpolator< T, U >, and TrajColl::BangBangInterpolator< T, U >.

calcCoeff()

template<class T , class U = T>

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

pure virtual

Calculate coefficients.

Implemented in TrajColl::CubicInterpolator< T, U >, and TrajColl::BangBangInterpolator< T, U >.

clearPoints()

template<class T , class U = T>

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

inlinevirtual

Clear points.

Reimplemented in TrajColl::BangBangInterpolator< T, U >.

Definition at line 33 of file Interpolator.h.

clone()

template<class T , class U = T>

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

pure virtual

Clone this instance and get shared pointer.

Implemented in TrajColl::CubicInterpolator< T, U >, and TrajColl::BangBangInterpolator< T, U >.

derivative()

template<class T , class U = T>

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

pure virtual

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.

Implemented in TrajColl::CubicInterpolator< T, U >, and TrajColl::BangBangInterpolator< T, U >.

endTime()

template<class T , class U = T>

double TrajColl::Interpolator< T, U >::endTime ( ) const

inline

Get end time.

Definition at line 68 of file Interpolator.h.

operator()()

template<class T , class U = T>

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

pure virtual

Calculate interpolated value.

Parameters

t

time

Implemented in TrajColl::CubicInterpolator< T, U >, and TrajColl::BangBangInterpolator< T, U >.

points()

template<class T , class U = T>

const std::map<double, T>& TrajColl::Interpolator< T, U >::points ( ) const

inline

Get points.

Definition at line 74 of file Interpolator.h.

startTime()

template<class T , class U = T>

double TrajColl::Interpolator< T, U >::startTime ( ) const

inline

Get start time.

Definition at line 62 of file Interpolator.h.

Member Data Documentation

points_

template<class T , class U = T>

std::map<double, T> TrajColl::Interpolator< T, U >::points_

protected

Times and values to be interpolated.

Definition at line 81 of file Interpolator.h.

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

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