trajopt::Spline< Degree > Class Template Reference

#include <trajopt/spline/spline.hpp>

Classes
struct	ControlVector

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

Public Member Functions
std::optional< PoseWithCurvature >	get_point (double t) const
virtual const Eigen::Matrix< double, 6, Degree+1 > &	coefficients () const =0
virtual const ControlVector &	get_initial_control_vector () const =0
virtual const ControlVector &	get_final_control_vector () const =0

Detailed Description

template<int Degree>
class trajopt::Spline< Degree >

Represents a two-dimensional parametric spline that interpolates between two points.

Template Parameters

Degree

The degree of the spline.

Member Function Documentation

coefficients()

template<int Degree>

virtual const Eigen::Matrix< double, 6, Degree+1 > & trajopt::Spline< Degree >::coefficients ( ) const

pure virtual

Returns the coefficients of the spline.

Returns

The coefficients of the spline.

Implemented in trajopt::CubicHermiteSpline.

get_final_control_vector()

template<int Degree>

virtual const ControlVector & trajopt::Spline< Degree >::get_final_control_vector ( ) const

pure virtual

Returns the final control vector that created this spline.

Returns

The final control vector that created this spline.

Implemented in trajopt::CubicHermiteSpline.

get_initial_control_vector()

template<int Degree>

virtual const ControlVector & trajopt::Spline< Degree >::get_initial_control_vector ( ) const

pure virtual

Returns the initial control vector that created this spline.

Returns

The initial control vector that created this spline.

Implemented in trajopt::CubicHermiteSpline.

get_point()

template<int Degree>

std::optional< PoseWithCurvature > trajopt::Spline< Degree >::get_point ( double t ) const

inline

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

Parameters

t	The point t

Returns

The pose and curvature at that point.

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

• include/trajopt/spline/spline.hpp