Abstract base class for interpolating splines. More...

#include <base_spline.hpp>

Inheritance diagram for hermite::BaseSpline< D >:

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Collaboration diagram for hermite::BaseSpline< D >:

Public Member Functions
virtual	~BaseSpline ()=default
	Destructor.

virtual double	getLowestTime () const =0
	Gets the lower bound of the domain of the piecewise spline function, which is the first time (lowest t-value) listed in the waypoints. More...

virtual double	getHighestTime () const =0
	Gets the upper bound of the domain of the piecewise spline function, which is the last time (highest t-value) listed in the waypoints. More...

virtual Vector< D >	getPos (const double t) const =0
	Gets value of the interpolation function at a certain point. More...

virtual Vector< D >	getVel (const double t) const =0
	Gets derivative of the function at a certain point. More...

virtual Vector< D >	getAcc (const double t) const =0
	Gets second derivative of the function at a certain point. More...

double	getMaxDistance (const double timeStep) const
	Gets maximum distance from origin. More...

double	getMaxSpeed (const double timeStep) const
	Gets maximum speed. More...

double	getMaxAcceleration (const double timeStep) const
	Gets maximum magnitude of acceleration. More...

virtual double	getLength (const double timeStep) const =0
	Gets arc length. More...

Public Member Functions inherited from hermite::BaseInterpol< D >
virtual	~BaseInterpol ()=default
	Destructor.

virtual Vector< D >	operator() (const double t) const
	Gets value of the interpolation function at a certain point. More...

Detailed Description

template<std::size_t D>
class hermite::BaseSpline< D >

Abstract base class for interpolating splines.

Member Function Documentation

◆ getAcc()

template<std::size_t D>

virtual Vector<D> hermite::BaseSpline< D >::getAcc ( const double t ) const

pure virtual

Gets second derivative of the function at a certain point.

This will usually be the acceleration.

Parameters

t	Input to get value from

Returns: Output from function's second derivative

Implements hermite::BaseInterpol< D >.

Implemented in hermite::Hermite< D >, and hermite::Cubic< D >.

◆ getHighestTime()

template<std::size_t D>

virtual double hermite::BaseSpline< D >::getHighestTime ( ) const

pure virtual

Gets the upper bound of the domain of the piecewise spline function, which is the last time (highest t-value) listed in the waypoints.

Note: If there are no waypoints, then returns 0

Returns: The last time measurement

Implemented in hermite::Hermite< D >, and hermite::Cubic< D >.

◆ getLength()

template<std::size_t D>

virtual double hermite::BaseSpline< D >::getLength ( const double timeStep ) const

pure virtual

Gets arc length.

Parameters

timeStep The time step to try for the arc length

Note: This function will take much longer for smaller timesteps. Recommended is between 0.001 and 0.1, but this also depends on the domain of your function.; If zero or one poses, returns 0.

Returns: Arc length

Implemented in hermite::Hermite< D >, and hermite::Cubic< D >.

◆ getLowestTime()

template<std::size_t D>

virtual double hermite::BaseSpline< D >::getLowestTime ( ) const

pure virtual

Gets the lower bound of the domain of the piecewise spline function, which is the first time (lowest t-value) listed in the waypoints.

Note: If there are no waypoints, then returns 0

Returns: The first time measurement

Implemented in hermite::Hermite< D >, and hermite::Cubic< D >.

◆ getMaxAcceleration()

template<std::size_t D>

double hermite::BaseSpline< D >::getMaxAcceleration ( const double timeStep ) const

inline

Gets maximum magnitude of acceleration.

Parameters

timeStep The time step to try for the absolute maximum

Note: This function will take much longer for smaller timesteps. Recommended is between 0.001 and 0.1, but this also depends on the domain of your function.; If no poses, returns 0.

Returns: Magnitude of maximum acceleration.

◆ getMaxDistance()

template<std::size_t D>

double hermite::BaseSpline< D >::getMaxDistance ( const double timeStep ) const

inline

Gets maximum distance from origin.

Parameters

timeStep The time step to try for the absolute maximum

Note: This function will take much longer for smaller timesteps. Recommended is between 0.001 and 0.1, but this also depends on the domain of your function.; If no waypoints, returns 0.

Returns: Maximum distance from the origin.

◆ getMaxSpeed()

template<std::size_t D>

double hermite::BaseSpline< D >::getMaxSpeed ( const double timeStep ) const

inline

Gets maximum speed.

Parameters

timeStep The time step to try for the absolute maximum

Note: This function will take much longer for smaller timesteps. Recommended is between 0.001 and 0.1, but this also depends on the domain of your function.; If no poses, returns 0.

Returns: Maximum speed.

◆ getPos()

template<std::size_t D>

virtual Vector<D> hermite::BaseSpline< D >::getPos ( const double t ) const

pure virtual

Gets value of the interpolation function at a certain point.

Same as calling operator()()

Parameters

t	Input to get value from

Returns: Output from function

Implements hermite::BaseInterpol< D >.

Implemented in hermite::Hermite< D >, and hermite::Cubic< D >.

◆ getVel()

template<std::size_t D>

virtual Vector<D> hermite::BaseSpline< D >::getVel ( const double t ) const

pure virtual

Gets derivative of the function at a certain point.

This will usually be the velocity.

Parameters

t	Input to get value from

Returns: Output from function's derivative

Implements hermite::BaseInterpol< D >.

Implemented in hermite::Hermite< D >, and hermite::Cubic< D >.

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

/home/runner/work/hermite/hermite/include/hermite/base_spline.hpp

Public Member Functions

Detailed Description

template<std::size_t D> class hermite::BaseSpline< D >

Member Function Documentation

◆ getAcc()

◆ getHighestTime()

◆ getLength()

◆ getLowestTime()

◆ getMaxAcceleration()

◆ getMaxDistance()

◆ getMaxSpeed()

◆ getPos()

◆ getVel()

template<std::size_t D>
class hermite::BaseSpline< D >