#include <hermite.hpp>

Inheritance diagram for hermite::Hermite< D >:

Collaboration diagram for hermite::Hermite< D >:

Public Member Functions
	Hermite ()
	Default constructor. More...

	Hermite (const double multiplier)
	Constructor. More...

	Hermite (const Hermite< D > &other)
	Copy constructor.

Hermite< D > &	operator= (const Hermite< D > &other)
	Assignment operator. More...

	~Hermite () override=default
	Destructor.

void	insert (const Pose< D > &waypoint)
	Inserts a waypoint. More...

void	replace (const Pose< D > &waypoint)
	Replaces a waypoint. More...

void	insertOrReplace (const Pose< D > &waypoint)
	Inserts a waypoint if it doesn't exist, otherwise replaces the waypoint. More...

bool	exists (const Pose< D > &waypoint) const
	Checks if a waypoint exists. More...

bool	exists (const double time) const
	Checks if a waypoint at a certain time exists. More...

void	erase (const Pose< D > &waypoint)
	Removes a waypoint. More...

void	erase (const double time)
	Removes a waypoint. More...

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 last time (highest 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::Hermite< D >

Hermite spline class.

Given a set of poses (i.e. a desired position and velocity at a certain time), this class interpolates a path between these poses by using Hermite splines. It does this by interpolating a Hermite function between each pose using HermiteSub, and matching the final position and velocity of one pose with the initial position and velocity of the next.

This class can work with multiple dimensions, specified in the template argument. For example, if the path you want to interpolate is 2-dimensional, then specify "2" in the template argument.

This class acts like a std::map, where the key is the time. This is to ensure maximum efficiency inserting, removing, changing, and searching for the interpoloation equations. However, because time is a floating point number, and they are always imprecise, it needs to be converted into an integer. It does this by multiplying the time by a certain multiplier and truncating the rest of the digits. This is fine for most cases, as the time does not need to be super precise.

Hermite curves allow for fast local control, meaning that inserting and removing points is quick. However, it only provides C1 continuity, which means that there may be high jerk at knot points (as acceleration is discontinuous).

Constructor & Destructor Documentation

◆ Hermite() [1/2]

template<std::size_t D>

hermite::Hermite< D >::Hermite ( )

inline

Default constructor.

Sets multiplier to 10, meaning that it shifts the decimal place of the given time by 1 digit before truncating the rest of the number whenever it is stored as a waypoint.

◆ Hermite() [2/2]

template<std::size_t D>

hermite::Hermite< D >::Hermite ( const double multiplier )

inline

Constructor.

Parameters

multiplier Multiplies the time given in the pose by the multiplier, then truncates the rest of the digits when storing the waypoint.

Member Function Documentation

◆ erase() [1/2]

template<std::size_t D>

void hermite::Hermite< D >::erase ( const double time )

inline

Removes a waypoint.

Parameters

time	Time of waypoint to remove

Note: The waypoint's time is rounded by using the multplier; If the waypoint's time is not precise enough, then this may erase a waypoint even though it might not be intended.

◆ erase() [2/2]

template<std::size_t D>

void hermite::Hermite< D >::erase ( const Pose< D > & waypoint )

inline

Removes a waypoint.

Parameters

waypoint Waypoint to remove

Note: Only the waypoint's time is used in this method.; The waypoint's time is rounded by using the multplier; If the waypoint's time is not precise enough, then this may erase a waypoint even though it might not be intended.

◆ exists() [1/2]

template<std::size_t D>

bool hermite::Hermite< D >::exists ( const double time ) const

inline

Checks if a waypoint at a certain time exists.

Parameters

time	Checks if a waypoint exists at this time

Returns: If waypoint exists.

◆ exists() [2/2]

template<std::size_t D>

bool hermite::Hermite< D >::exists ( const Pose< D > & waypoint ) const

inline

Checks if a waypoint exists.

Parameters

waypoint Checks if this waypoint exists

Note: Only uses the time argument of the waypoint.

Returns: If waypoint exists.

◆ getAcc()

template<std::size_t D>

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

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.; If called on a border between two functions, will take the value of the latter function.

Parameters

t Time

Returns: Acceleration

Implements hermite::BaseSpline< D >.

◆ getAllWaypoints()

template<std::size_t D>

std::vector<Pose<D> > hermite::Hermite< D >::getAllWaypoints ( ) const

inline

Gets a list of all waypoints.

Returns: A list of all waypoints, sorted in order of time.

◆ getHighestTime()

template<std::size_t D>

double hermite::Hermite< D >::getHighestTime ( ) const

inlineoverridevirtual

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

Implements hermite::BaseSpline< D >.

◆ getLength()

template<std::size_t D>

double hermite::Hermite< D >::getLength ( const double timeStep ) const

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()

template<std::size_t D>

double hermite::Hermite< D >::getLowestTime ( ) const

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

Returns: The first time measurement

Implements hermite::BaseSpline< D >.

◆ getPos()

template<std::size_t D>

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

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()

template<std::size_t D>

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

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 >.

◆ insert()

template<std::size_t D>

void hermite::Hermite< D >::insert ( const Pose< D > & waypoint )

inline

Inserts a waypoint.

Parameters

waypoint Waypoint to insert

Note: If the waypoint's time exists (rounded according to the multiplier), then this method does nothing.

◆ insertOrReplace()

template<std::size_t D>

void hermite::Hermite< D >::insertOrReplace ( const Pose< D > & waypoint )

inline

Inserts a waypoint if it doesn't exist, otherwise replaces the waypoint.

Parameters

waypoint Waypoint to insert or replace

◆ operator=()

template<std::size_t D>

Hermite<D>& hermite::Hermite< D >::operator= ( const Hermite< D > & other )

inline

Assignment operator.

Note: All data stored in current Hermite object will be lost.

◆ replace()

template<std::size_t D>

void hermite::Hermite< D >::replace ( const Pose< D > & waypoint )

inline

Replaces a waypoint.

Parameters

waypoint Waypoint to replace

Note: Gets the time from the waypoint.; If the waypoint does not exist, then this method does not change anything.

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

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

Public Member Functions

Detailed Description

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

Constructor & Destructor Documentation

◆ Hermite() [1/2]

◆ Hermite() [2/2]

Member Function Documentation

◆ erase() [1/2]

◆ erase() [2/2]

◆ exists() [1/2]

◆ exists() [2/2]

◆ getAcc()

◆ getAllWaypoints()

◆ getHighestTime()

◆ getLength()

◆ getLowestTime()

◆ getPos()

◆ getVel()

◆ insert()

◆ insertOrReplace()

◆ operator=()

◆ replace()

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