traj_opt::MsgTrajectory Class Reference

#include <msg_traj.h>

Inheritance diagram for traj_opt::MsgTrajectory:

Public Member Functions
	MsgTrajectory (const TrajData &traj)
bool	evaluate (decimal_t t, uint derr, VecD &out) const override
decimal_t	getTotalTime () const override
decimal_t	getCost () override
TrajData	serialize () override
Public Member Functions inherited from traj_opt::Trajectory
virtual	~Trajectory ()
decimal_t	getExecuteTime () const
bool	getCommand (decimal_t t, uint num_derivatives, MatD &data)
void	setDim (uint ndim)
void	setExecuteTime (decimal_t t)

Protected Attributes
TrajData	traj_
std::vector< std::vector< boost::shared_ptr< Poly > > >	polyies_
std::vector< std::vector< std::vector< boost::shared_ptr< Poly > > > >	derrives_
uint	num_secs_
std::vector< decimal_t >	dts
uint	deg_
Protected Attributes inherited from traj_opt::Trajectory
decimal_t	exec_t {-1.0}
int	dim_ {0}

Constructor & Destructor Documentation

MsgTrajectory()

traj_opt::MsgTrajectory::MsgTrajectory ( const TrajData &  traj )

explicit

Member Function Documentation

evaluate()

bool traj_opt::MsgTrajectory::evaluate ( decimal_t  t, uint  derr, VecD &  out  ) const

overridevirtual

Implements traj_opt::Trajectory.

getCost()

decimal_t traj_opt::MsgTrajectory::getCost ( )

overridevirtual

Implements traj_opt::Trajectory.

getTotalTime()

decimal_t traj_opt::MsgTrajectory::getTotalTime ( ) const

overridevirtual

Implements traj_opt::Trajectory.

serialize()

TrajData traj_opt::MsgTrajectory::serialize ( )

overridevirtual

Implements traj_opt::Trajectory.

Member Data Documentation

deg_

uint traj_opt::MsgTrajectory::deg_

protected

derrives_

std::vector<std::vector<std::vector<boost::shared_ptr<Poly> > > > traj_opt::MsgTrajectory::derrives_

protected

dts

std::vector<decimal_t> traj_opt::MsgTrajectory::dts

protected

num_secs_

uint traj_opt::MsgTrajectory::num_secs_

protected

polyies_

std::vector<std::vector<boost::shared_ptr<Poly> > > traj_opt::MsgTrajectory::polyies_

protected

traj_

TrajData traj_opt::MsgTrajectory::traj_

protected

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

• mobility/planner_qp/traj_opt_basic/include/traj_opt_basic/msg_traj.h
• mobility/planner_qp/traj_opt_basic/src/msg_traj.cpp