mpi_cpp_tools
Public Types | Public Member Functions | List of all members
mct::LinearDynamicsWithAccelerationConstraint Class Reference
Inheritance diagram for mct::LinearDynamicsWithAccelerationConstraint:
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Collaboration diagram for mct::LinearDynamicsWithAccelerationConstraint:
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Public Types

typedef LinearDynamics::Vector Vector
 
typedef Eigen::Matrix< double, Eigen::Dynamic, Eigen::Dynamic, 0, 10, 10 > Matrix
 
- Public Types inherited from mct::LinearDynamics
typedef Eigen::Matrix< double, Eigen::Dynamic, 1, 0, 10 > Vector
 

Public Member Functions

void print_parameters () const
 
 LinearDynamicsWithAccelerationConstraint (Eigen::Matrix< double, 5, 1 > parameters)
 
 LinearDynamicsWithAccelerationConstraint (double jerk, double initial_acceleration, double initial_velocity, double initial_position, mct::NonnegDouble abs_acceleration_limit)
 
void set_initial_acceleration (double initial_acceleration)
 
double get_acceleration (mct::NonnegDouble t) const
 
double get_velocity (mct::NonnegDouble t) const
 
double get_position (mct::NonnegDouble t) const
 
template<typename Array >
Array get_positions (const Array &times) const
 
Vector find_t_given_velocity (double velocity) const
 
bool will_exceed_jointly (const double &max_velocity, const double &max_position) const
 
bool will_exceed_jointly (const double &max_velocity, const double &max_position, double &certificate_time) const
 
bool will_deceed_jointly (const double &min_velocity, const double &min_position) const
 
bool will_deceed_jointly (const double &min_velocity, const double &min_position, double &certificate_time) const
 
- Public Member Functions inherited from mct::LinearDynamics
 LinearDynamics (Eigen::Vector4d parameters)
 
 LinearDynamics (double jerk, double initial_acceleration, double initial_velocity, double initial_position)
 
double get_acceleration (mct::NonnegDouble t) const
 
double get_velocity (mct::NonnegDouble t) const
 
double get_position (mct::NonnegDouble t) const
 
Vector find_t_given_velocity (double velocity) const
 

Additional Inherited Members

- Protected Attributes inherited from mct::LinearDynamics
double jerk_
 
double initial_acceleration_
 
double initial_velocity_
 
double initial_position_
 

Member Function Documentation

bool mct::LinearDynamicsWithAccelerationConstraint::will_exceed_jointly ( const double &  max_velocity,
const double &  max_position,
double &  certificate_time 
) const
inline
Todo:
we could do this in a cleaner way with candidate points
The documentation for this class was generated from the following file: