A natural cubic spline. More...
#include <cubic.hpp>
Public Member Functions | |
| Cubic ()=default | |
| Default constructor. More... | |
| Cubic (const std::vector< Pose< D >> &waypoints) | |
| Constructor. More... | |
| Cubic (const Cubic< D > &other) | |
| Copy constructor. | |
| Cubic< D > & | operator= (const Cubic< D > &other) |
| Assignment operator. | |
| ~Cubic () override=default | |
| Destructor. | |
| std::vector< Pose< D > > | getAllWaypoints () const |
| Gets a list of all waypoints. More... | |
| double | getLowestTime () const override |
| 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... | |
| double | getHighestTime () const override |
| Gets the upper bound of the domain of the piecewise spline function, which is the first time (lowest t-value) listed in the waypoints. More... | |
| Vector< D > | getPos (const double t) const override |
| Gets position at a certain time. More... | |
| Vector< D > | getVel (const double t) const override |
| Gets velocity at a certain time. More... | |
| Vector< D > | getAcc (const double t) const override |
| Gets acceleration of the function at a certain time. More... | |
| double | getLength (const double timeStep) const override |
| Gets arc length. More... | |
 Public Member Functions inherited from hermite::BaseSpline< D > | |
| virtual | ~BaseSpline ()=default |
| Destructor. | |
| 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... | |
| 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::Cubic< D >
A natural cubic spline.
Given a set of poses, this class interpolates a path. However, only the velocity for the first and last poses need to be known. This class will determine velocities for the other positions such that the second derivatives match.
This class takes in an std::vector of poses and interpolates from that vector. This vector should be obtained using the Hermite class's Hermite::getAllWaypoints() method. Although the vector can be created yourself, you need to be careful and make sure there are no repeated points in time, or it may lead to undefined behavior.
The advantage of using this over Hermite is that you obtain C2 continuity. However, the path must be regenerated after changing one position, and it will affect the entire curve, giving up local control. Additionally, you cannot specify the velocities of the waypoints in between the start and end point.
Note that this class can be only used for one unique set of points. To use it for another set, it is highly recommended to insert/delete points from the Hermite class and use the output of Hermite::getAllWaypoints() to generate the points in the constructor to ensure defined behavior.
Constructor & Destructor Documentation
◆ Cubic() [1/2]
|
default |
Default constructor.
Initializes with zero waypoints
◆ Cubic() [2/2]
|
inline |
Constructor.
It is highly recommended to insert the points in the Hermite class first, and then use the output of Hermite::getAllWaypoints() for the constructor.
- Parameters
-
waypoints A list of waypoints
- Note
- Sorts the waypoints
- Make sure that there are no two waypoints that share the same time, or there will be undefined behavior.
Member Function Documentation
◆ getAcc()
|
inlineoverridevirtual |
Gets acceleration of the function at a certain time.
- Note
- If time is outside the domain of time from the given points, then it calculates the value for the function whose domain is nearest to t.
- If number of waypoints is less than or equal to 1, then returns a zero vector.
- Parameters
-
t Time
- Returns
- Acceleration
Implements hermite::BaseSpline< D >.
◆ getAllWaypoints()
|
inline |
Gets a list of all waypoints.
- Returns
- A list of all waypoints, sorted in order of time.
◆ getHighestTime()
|
inlineoverridevirtual |
Gets the upper 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
- Assumes that the list was sorted from the constructor.
- Returns
- The last time measurement
Implements hermite::BaseSpline< D >.
◆ getLength()
|
inlineoverridevirtual |
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
Implements hermite::BaseSpline< D >.
◆ getLowestTime()
|
inlineoverridevirtual |
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
- Assumes that the list was sorted from the constructor.
- Returns
- The first time measurement
Implements hermite::BaseSpline< D >.
◆ getPos()
|
inlineoverridevirtual |
Gets position at a certain time.
Same as calling operator()()
- Note
- If time is outside the domain of time from the given points, then it calculates the value for the function whose domain is nearest to t.
- If number of waypoints is less than or equal to 1, then returns a zero vector.
- Parameters
-
t Time
- Returns
- Position
Implements hermite::BaseSpline< D >.
◆ getVel()
|
inlineoverridevirtual |
Gets velocity at a certain time.
- Note
- If time is outside the domain of time from the given points, then it calculates the value for the function whose domain is nearest to t.
- If number of waypoints is less than or equal to 1, then returns a zero vector.
- Parameters
-
t Time
- Returns
- Velocity
Implements hermite::BaseSpline< D >.
The documentation for this class was generated from the following file:
- /home/runner/work/hermite/hermite/include/hermite/cubic.hpp
