trajopt::CubicHermitePoseSplineHolonomic Class Reference

#include <trajopt/spline/cubic_hermite_pose_spline_holonomic.hpp>

Inheritance diagram for trajopt::CubicHermitePoseSplineHolonomic:

Public Types
using	PoseWithCurvature = std::pair<Pose2d, double>
	Pose2d with curvature.

Public Member Functions
	CubicHermitePoseSplineHolonomic (std::array< double, 2 > x_initial_control_vector, std::array< double, 2 > x_final_control_vector, std::array< double, 2 > y_initial_control_vector, std::array< double, 2 > y_final_control_vector, Rotation2d r0, Rotation2d r1)
Rotation2d	GetCourse (double t) const
Rotation2d	get_heading (double t) const
double	get_heading_rate (double t) const
std::optional< PoseWithCurvature >	get_point (double t, bool is_differential) const

Detailed Description

Represents a cubic pose spline, which is a specific implementation of a cubic hermite spline.

Constructor & Destructor Documentation

CubicHermitePoseSplineHolonomic()

trajopt::CubicHermitePoseSplineHolonomic::CubicHermitePoseSplineHolonomic ( std::array< double, 2 > x_initial_control_vector, std::array< double, 2 > x_final_control_vector, std::array< double, 2 > y_initial_control_vector, std::array< double, 2 > y_final_control_vector, Rotation2d r0, Rotation2d r1 )

inline

Constructs a cubic pose spline.

Parameters

x_initial_control_vector	The control vector for the initial point in the x dimension.
x_final_control_vector	The control vector for the final point in the x dimension.
y_initial_control_vector	The control vector for the initial point in the y dimension.
y_final_control_vector	The control vector for the final point in the y dimension.
r0	Initial heading.
r1	Final heading.

Member Function Documentation

get_heading()

Rotation2d trajopt::CubicHermitePoseSplineHolonomic::get_heading ( double t ) const

inline

Return heading at point t.

Parameters

t	The point t

Returns

The heading at point t.

get_heading_rate()

double trajopt::CubicHermitePoseSplineHolonomic::get_heading_rate ( double t ) const

inline

Return heading rate at point t.

Parameters

t	The point t

Returns

The heading rate at point t.

get_point()

std::optional< PoseWithCurvature > trajopt::CubicHermitePoseSplineHolonomic::get_point ( double t, bool is_differential ) const

inline

Gets the pose and curvature at some point t on the spline.

Parameters

t	The point t
is_differential	Whether the drivetrain is a differential drive.

Returns

The pose and curvature at that point.

GetCourse()

Rotation2d trajopt::CubicHermitePoseSplineHolonomic::GetCourse ( double t ) const

inline

Return course at point t.

Parameters

t	The point t

Returns

The course at point t.

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

• include/trajopt/spline/cubic_hermite_pose_spline_holonomic.hpp