TrajectoryRep1D Class Reference

Trajectory representation between two calculated points in 1d. More...

#include <trajectory.hpp>

Public Member Functions
	TrajectoryRep1D ()
	Default constructor for empty representation. More...
	TrajectoryRep1D (double dt, double x1, double v1, double x2, double v2, trajectory_rep_e force=TRAJ_EMPTY)
	Constructor for representation of trajectory from (x1,v1) to (x2,v2) in time dt. More...
	~TrajectoryRep1D ()
	Destructor. More...
void	construct (double dt, double x1, double v1, double x2, double v2, trajectory_rep_e force=TRAJ_EMPTY)
	Construct representation of trajectory from (x1,v1) to (x2,v2) in time dt. More...
void	coord (double &x, double &v, double K)
	Calculate location x and velocity v at parametric time K. More...
int	solve (double K[3], double x, int extrapolate=0)
	Solves for trajectory intersection with location. More...
uint32_t	get_representation_order (void) const
	Returns order of polynomial used. More...
void	debug_print (std::ostream &os) const
	Print debugging information to os. More...

Detailed Description

Trajectory representation between two calculated points in 1d.

Uses either linear-linear, quadratic-linear or cubic-quadratic representation for location x and velocity v. Time is presented as a parametric, scaled variable K ranging from 0 to 1.

Constructor & Destructor Documentation

TrajectoryRep1D() [1/2]

TrajectoryRep1D::TrajectoryRep1D ( )

inline

Default constructor for empty representation.

TrajectoryRep1D() [2/2]

TrajectoryRep1D::TrajectoryRep1D	(	double	dt,
		double	x1,
		double	v1,
		double	x2,
		double	v2,
		trajectory_rep_e	force = TRAJ_EMPTY
	)

Constructor for representation of trajectory from (x1,v1) to (x2,v2) in time dt.

Can be forced to use a specified representation type by setting force. Defaults to TRAJ_EMPTY, which means that the highest numerically stable polynomial is automatically used.

~TrajectoryRep1D()

TrajectoryRep1D::~TrajectoryRep1D ( )

inline

Destructor.

Member Function Documentation

construct()

void TrajectoryRep1D::construct	(	double	dt,
		double	x1,
		double	v1,
		double	x2,
		double	v2,
		trajectory_rep_e	force = TRAJ_EMPTY
	)

Construct representation of trajectory from (x1,v1) to (x2,v2) in time dt.

Can be forced to use a specified representation type by setting force. Defaults to TRAJ_EMPTY, which means that the highest numerically stable polynomial is automatically used.

coord()

void TrajectoryRep1D::coord	(	double &	x,
		double &	v,
		double	K
	)

Calculate location x and velocity v at parametric time K.

debug_print()

void TrajectoryRep1D::debug_print

(

std::ostream &

os

)

const

Print debugging information to os.

get_representation_order()

uint32_t TrajectoryRep1D::get_representation_order

(

void

)

const

Returns order of polynomial used.

Returns order 0-3.

solve()

int TrajectoryRep1D::solve	(	double	K[3],
		double	x,
		int	extrapolate = 0
	)

Solves for trajectory intersection with location.

Solves the trajectory intersection with location x. Saves the valid solutions to array K in increasing order and returns the number of solutions saved. The accepted limit for parametric time K is 0 < K =< 1 if extrapolate is 0, -1.0e-6 < K =< 1 if extrapolate is less than 0 or 0.0 < K <= 1+1.0e-6 if extrapolate is more than 0.

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

• trajectory.hpp
• trajectory.cpp