Class Spline

Defined in File spline.hpp

Nested Relationships

Nested Types

Struct Spline::SplineT

Inheritance Relationships

Derived Type

public bitbots_splines::SmoothSpline (Class SmoothSpline)

Class Documentation

class bitbots_splines::Spline

Generic one dimentional polynomial spline generator

Subclassed by bitbots_splines::SmoothSpline

Public Functions

double pos(double t) const: Return spline interpolation at given t. Compute spline value, its first, second and third derivative

double vel(double t) const

double acc(double t) const

double jerk(double t) const

double posMod(double t) const: Return spline interpolation value, first, second and third derivative with given t bound between 0 and 1

double velMod(double t) const

double accMod(double t) const

double jerkMod(double t) const

double min() const: Return minimum and maximum abscisse value for which spline is defined

double max() const

void exportData(std::ostream &os) const: Write and read splines data into given iostream in ascii format

void importData(std::istream &is)

size_t size() const: Return the number of internal polynom

const SplineT &part(size_t index) const: Access to given by its index

void addPart(const Polynom &poly, double min, double max): Add a part with given polynom and min/max time range

void copyData(const Spline &sp): Replace this spline part with the internal data of given spline

Protected Functions

virtual void importCallBack(): Possible override callback after importation

Protected Attributes

std::vector<SplineT> splines_: Spline part container

Private Functions

double interpolation(double x, double (Polynom::* func)(double) const) const: Return spline interpolation of given value and used given polynom evaluation function (member function pointer)

double interpolationMod(double x, double (Polynom::* func)(double) const) const: Return interpolation with x bound between 0 and 1

struct SplineT

Internal spline part structure with a polynom valid on an interval

Public Members

Polynom polynom

double min

double max