momentumopt
Public Member Functions | Private Attributes | List of all members
momentumopt::TrajectoryGenerator Class Reference
Collaboration diagram for momentumopt::TrajectoryGenerator:
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Public Member Functions

void initialize (const double tini, const Eigen::Vector3d &ini_position, const double tend, const Eigen::Vector3d &end_position, const Eigen::Vector3d &via_position)
 
void update (const double time)
 
const Eigen::Vector3d & desPos () const
 
const Eigen::Vector3d & desVel () const
 
const Eigen::Vector3d & desAcc () const
 

Private Attributes

Interpolator traj_interp_ [3]
 
Eigen::Vector3d pos_des_
 
Eigen::Vector3d vel_des_
 
Eigen::Vector3d acc_des_
 
The documentation for this class was generated from the following files: