Class blmc_drivers::TimePolynome

template<int ORDER>
class TimePolynome : public blmc_drivers::Polynome<ORDER>, public blmc_drivers::Polynome<ORDER>

Simple class that defines \( P(t) \) a polynome of order ORDER.

With \( t \) being the time in any units. It provide simple methods to compute safely \( P(time) \), \( \frac{dP}{dt}(t) \), and \( \frac{dP^2}{dt^2}(t) \)

Template Parameters:

ORDER –

Public Functions

inline TimePolynome()

Constructor

inline ~TimePolynome()

Destructor

double compute(double t)

TimePolynome<ORDER> definitions.

Compute the value.

double compute_derivative(double t)

Compute the value of the derivative.

double compute_sec_derivative(double t)

Compute the value of the second derivative.

inline double get_final_time() const

inline double get_init_pose() const

inline double get_init_speed() const

inline double get_init_acc() const

inline double get_final_pose() const

inline double get_final_speed() const

inline double get_final_acc() const

void set_parameters(double final_time, double init_pose, double init_speed, double final_pose)

Computes a polynome trajectory according to the following constraints:

\[\begin{split}\begin{eqnarray*} P(0) &=& init_pose \\ P(0) &=& init_speed = 0 \\ P(0) &=& init_acc = 0 \\ P(final_time_) &=& final_pose \\ P(final_time_) &=& final_speed = 0 \\ P(final_time_) &=& final_acc = 0 \end{eqnarray*}\end{split}\]

Parameters:

• final_time – is used in the constraints.

• init_pose – is used in the constraints.

• init_speed – is used in the constraints.

• final_pose – is used in the constraints.

inline TimePolynome()

Constructor

inline ~TimePolynome()

Destructor

double compute(double t)

Compute the value.

double compute_derivative(double t)

Compute the value of the derivative.

double compute_sec_derivative(double t)

Compute the value of the second derivative.

inline double get_final_time() const

inline double get_init_pose() const

inline double get_init_speed() const

inline double get_init_acc() const

inline double get_final_pose() const

inline double get_final_speed() const

inline double get_final_acc() const

void set_parameters(double final_time, double init_pose, double init_speed, double final_pose)

Computes a polynome trajectory according to the following constraints:

\[\begin{split}\begin{eqnarray*} P(0) &=& init_pose \\ P(0) &=& init_speed = 0 \\ P(0) &=& init_acc = 0 \\ P(final_time_) &=& final_pose \\ P(final_time_) &=& final_speed = 0 \\ P(final_time_) &=& final_acc = 0 \end{eqnarray*}\end{split}\]

Parameters:

• final_time – is used in the constraints.

• init_pose – is used in the constraints.

• init_speed – is used in the constraints.

• final_pose – is used in the constraints.