traj_opt::Trajectory Class Reference

#include <trajectory.h>

Inheritance diagram for traj_opt::Trajectory:

Public Member Functions
virtual	~Trajectory ()
virtual bool	evaluate (decimal_t t, uint derr, VecD &out) const =0
virtual decimal_t	getTotalTime () const =0
virtual decimal_t	getCost ()=0
decimal_t	getExecuteTime () const
bool	getCommand (decimal_t t, uint num_derivatives, MatD &data)
void	setDim (uint ndim)
void	setExecuteTime (decimal_t t)
virtual TrajData	serialize ()=0

Protected Attributes
decimal_t	exec_t {-1.0}
int	dim_ {0}

Constructor & Destructor Documentation

~Trajectory()

virtual traj_opt::Trajectory::~Trajectory ( )

inlinevirtual

Member Function Documentation

evaluate()

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

pure virtual

Implemented in traj_opt::MsgTrajectory, traj_opt::LegendreTrajectory, and traj_opt::NonlinearTrajectory.

getCommand()

bool traj_opt::Trajectory::getCommand	(	decimal_t	t,
		uint	num_derivatives,
		MatD &	data
	)

getCost()

virtual decimal_t traj_opt::Trajectory::getCost ( )

pure virtual

Implemented in traj_opt::MsgTrajectory, traj_opt::LegendreTrajectory, and traj_opt::NonlinearTrajectory.

getExecuteTime()

decimal_t traj_opt::Trajectory::getExecuteTime

(

)

const

getTotalTime()

virtual decimal_t traj_opt::Trajectory::getTotalTime ( ) const

pure virtual

Implemented in traj_opt::MsgTrajectory, traj_opt::LegendreTrajectory, and traj_opt::NonlinearTrajectory.

serialize()

virtual TrajData traj_opt::Trajectory::serialize ( )

pure virtual

Implemented in traj_opt::MsgTrajectory, traj_opt::LegendreTrajectory, and traj_opt::NonlinearTrajectory.

setDim()

void traj_opt::Trajectory::setDim ( uint  ndim )

inline

setExecuteTime()

void traj_opt::Trajectory::setExecuteTime ( decimal_t  t )

inline

Member Data Documentation

dim_

int traj_opt::Trajectory::dim_ {0}

protected

exec_t

decimal_t traj_opt::Trajectory::exec_t {-1.0}

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/trajectory.h
• mobility/planner_qp/traj_opt_basic/src/trajectory.cpp