Public Member Functions | List of all members
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...
 
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::TrajectoryRep1D ( )
inline

Default constructor for empty representation.

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 ( )
inline

Destructor.

Member Function Documentation

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.

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

Calculate location x and velocity v at parametric time K.

void TrajectoryRep1D::debug_print ( std::ostream &  os) const

Print debugging information to os.

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.


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