Class Motion¶
Defined in File Motion.hpp
Class Documentation¶
-
class
rmf_traffic
::
Motion
¶ Pure abstract interface for describing a continuous motion.
Public Functions
-
virtual Time
start_time
() const = 0¶ Get the lower bound on the time range where this motion is valid.
-
virtual Time
finish_time
() const = 0¶ Get the upper bound on the time range where this motion is valid.
-
virtual Eigen::Vector3d
compute_position
(Time t) const = 0¶ Get the position of this motion at a point in time.
- Parameters
[in] t
: The time of interest. This time must be in the range [start_time(), finish_time()], or else the output is undefined and may result in an exception.
-
virtual Eigen::Vector3d
compute_velocity
(Time t) const = 0¶ Get the velocity of this motion at a point in time.
- Parameters
[in] t
: The time of interest. This time must be in the range [start_time(), finish_time()], or else the output is undefined and may result in an exception.
-
virtual Eigen::Vector3d
compute_acceleration
(Time t) const = 0¶ Get the acceleration of this motion at a point in time.
- Parameters
[in] t
: The time of interest. This time must be in the range [start_time(), finish_time()], or else the output is undefined and may result in an exception.
-
virtual
~Motion
() = default¶
Public Static Functions
-
static std::unique_ptr<Motion>
compute_cubic_splines
(const Trajectory::const_iterator &begin, const Trajectory::const_iterator &end)¶ Compute a piecewise cubic spline motion object for a Trajectory from the begin iterator up to (but not including) the end iterator.
- Parameters
[in] begin
: The iterator of the first waypoint to include in the motion. It is undefined behavior to pass in Trajectory::end() for this argument.[in] end
: The iterator of the first waypoint to exclude from the motion. To include all the way to the end of the trajectory, pass in Trajectory::end(). An exception will be thrown if begin == end.
-
static std::unique_ptr<Motion>
compute_cubic_splines
(const Trajectory &trajectory)¶ Compute a piecewise cubic spline motion object for an entire Trajectory.
-
virtual Time