hermite::CubicVec< D > Class Template Reference

Spline vector calculator. More...

#include <cubic_vec.hpp>

Public Member Functions
	CubicVec ()=default
	Default constructor. More...
	CubicVec (const std::vector< Pose< D >> &waypoints)
	Constructor. More...
	CubicVec (const CubicVec< D > &other)
	Copy constructor.
CubicVec< D > &	operator= (const CubicVec< D > &other)
	Assignment operator.
	~CubicVec ()=default
	Destructor.
Vector< D >	splpos (const double t) const
Vector< D >	splvel (const double t) const
Vector< D >	splacc (const double t) const

Detailed Description

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

Spline vector calculator.

Calculates spline for vectors in C++ STL containers

Constructor & Destructor Documentation

CubicVec() [1/2]

template<std::size_t D>

hermite::CubicVec< D >::CubicVec ( )

default

Default constructor.

Note

Initializing with a default constructor and then using the methods will result in undefined behavior. Make sure that you are assigning the current object to another one with two or more waypoints, or you check bounds before using any of the methods.

CubicVec() [2/2]

template<std::size_t D>

hermite::CubicVec< D >::CubicVec ( const std::vector< Pose< D >> &  waypoints )

inline

Constructor.

Takes a list of poses and calculates the position values and time values for each pose in each dimension efficiently (linear complexity to the number of waypoints, times the number of dimensions).

Note

Assumes that the size of poses is greater than or equal to 2, it is sorted by time, and there are no repeated times. Otherwise, there will be undefined behavior.

Parameters

waypoints

A list of poses

Member Function Documentation

splacc()

template<std::size_t D>

Vector<D> hermite::CubicVec< D >::splacc ( const double  t ) const

inline

Gets acceleration value given a time input

Parameters

t	Time input

Returns

Acceleration vector at a given time

splpos()

template<std::size_t D>

Vector<D> hermite::CubicVec< D >::splpos ( const double  t ) const

inline

Gets position value given a time input

Parameters

t	Time input

Returns

Position vector at a given time

splvel()

template<std::size_t D>

Vector<D> hermite::CubicVec< D >::splvel ( const double  t ) const

inline

Gets velocity value given a time input

Parameters

t	Time input

Returns

Velocity vector at a given time

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

• /home/runner/work/hermite/hermite/include/hermite/cubic/cubic_vec.hpp