trajopt::CubicHermiteSpline1d Class Reference

1D cubic hermite spline. More...

#include <trajopt/spline/cubic_hermite_spline1d.hpp>

Public Member Functions
constexpr	CubicHermiteSpline1d (double p0, double p1, double v0, double v1)
constexpr double	get_position (double t) const
constexpr double	get_velocity (double t) const
constexpr double	get_acceleration (double t) const
constexpr double	get_jerk (double t) const

Detailed Description

1D cubic hermite spline.

Constructor & Destructor Documentation

CubicHermiteSpline1d()

trajopt::CubicHermiteSpline1d::CubicHermiteSpline1d ( double p0, double p1, double v0, double v1 )

inlineconstexpr

Constructs a 1D cubic hermite spline.

Parameters

p0	The initial position.
p1	The final position.
v0	The initial velocity.
v1	The final velocity.

Member Function Documentation

get_acceleration()

double trajopt::CubicHermiteSpline1d::get_acceleration ( double t ) const

inlineconstexpr

Return the acceleration at point t.

Parameters

t	The point t

Returns

The acceleration at point t.

get_jerk()

double trajopt::CubicHermiteSpline1d::get_jerk ( double t ) const

inlineconstexpr

Return the jerk at point t.

Parameters

t	The point t

Returns

The jerk at point t.

get_position()

double trajopt::CubicHermiteSpline1d::get_position ( double t ) const

inlineconstexpr

Return the position at point t.

Parameters

t	The point t

Returns

The position at point t.

get_velocity()

double trajopt::CubicHermiteSpline1d::get_velocity ( double t ) const

inlineconstexpr

Return the velocity at point t.

Parameters

t	The point t

Returns

The velocity at point t.

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

• include/trajopt/spline/cubic_hermite_spline1d.hpp