robLinearRn Class Reference

#include <robLinearRn.h>

Inheritance diagram for robLinearRn:

[legend]Collaboration diagram for robLinearRn:

Detailed Description

A linear function (as in Ax=b).

Definition at line 24 of file robLinearRn.h.

robLinearRn (const vctFixedSizeVector< double, 3 > &y1, const vctFixedSizeVector< double, 3 > &y2, double vmax, double t1=0.0)
Define a line passing throuh $(t_1,\mathbf{y}_1)$ and $(t_2,\mathbf{y}_2)$ .
robLinearRn (const vctDynamicVector< double > &y1, const vctDynamicVector< double > &y2, const vctDynamicVector< double > &ydmax, double t1=0.0)
Define a line passing throuh $(t_1,\mathbf{y}_1)$ and $(t_2,\mathbf{y}_2)$ .
void Evaluate (double t, double &y, double &yd, double &ydd)
Evaluate the linear function for the given input.
void Evaluate (double t, vctFixedSizeVector< double, 3 > &p, vctFixedSizeVector< double, 3 > &v, vctFixedSizeVector< double, 3 > &vd)
Evaluate the linear function for the given input.
void Evaluate (double t, vctDynamicVector< double > &y, vctDynamicVector< double > &yd, vctDynamicVector< double > &ydd)
Evaluate the linear function for the given input.
void Blend (robFunction *function, const vctDynamicVector< double > &qd, const vctDynamicVector< double > &qdd)
void Blend (robFunction *function, double vmax, double vdmax)
vctDynamicVector< double > Slope () const

robLinearRn::robLinearRn	(	const vctFixedSizeVector< double, 3 > &	y1,
		const vctFixedSizeVector< double, 3 > &	y2,
		double	vmax,
		double	t1 = `0.0`
	)

Define a line passing throuh $(t_1,\mathbf{y}_1)$ and $(t_2,\mathbf{y}_2)$ .

The final time $t_2$ is determined by the maximum velocities. The function is bounded by $[t_1, t_2]$ .

Parameters:

	t1	The initial time
	y1	The value $\mathbf{y}_1 = L(t_1)$
	y2	The value $\mathbf{y}_2 = L(t_2)$
	vmax	The magnitude of the maximum linear velocity

robLinearRn::robLinearRn	(	const vctDynamicVector< double > &	y1,
		const vctDynamicVector< double > &	y2,
		const vctDynamicVector< double > &	ydmax,
		double	t1 = `0.0`
	)

Define a line passing throuh $(t_1,\mathbf{y}_1)$ and $(t_2,\mathbf{y}_2)$ .

The final time $t_2$ is determined by the maximum velocities. The function is bounded by $[t_1, t_2]$ .

Parameters:

	t1	The initial time
	y1	The value $\mathbf{y}_1 = L(t_1)$
	y2	The value $\mathbf{y}_2 = L(t_2)$
	ydmax	The maximum velocity for each dimension

Evaluate the linear function for the given input.

The domain of the input

Parameters:

`[in]`	input	The input to the function. The input domain must be robSpace::TIME
	t	The time
`[out]`	y	The linear function at time t
`[out]`	yd	The 1st order time derivative at time t
`[out]`	ydd	The 2nd order time derivative at time t (always zero)

Evaluate the linear function for the given input.

The domain of the input

Parameters:

`[in]`	input	The input to the function. The input domain must be robSpace::TIME
	t	The time
`[out]`	p	The linear function at time t
`[out]`	v	The linear velocity
`[out]`	vd	The linear acceleration

Reimplemented from robFunctionRn.

Evaluate the linear function for the given input.

The domain of the input

Parameters:

`[in]`	input	The input to the function. The input domain must be robSpace::TIME
	t	The time
`[out]`	y	The linear function at time t
`[out]`	yd	The 1st order time derivative at time t
`[out]`	ydd	The 2nd order time derivative at time t (always zero)

Reimplemented from robFunctionRn.

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