reto::Spline Class Reference

Class to manage spline structs. More...

#include <Spline.h>

Collaboration diagram for reto::Spline:

Public Member Functions
	Spline (const std::vector< Eigen::Vector3f > &points)
	Create a new Spline object. More...
Eigen::Vector3f	evaluate (float dt)
	Evaluate the spline in a specific time. More...
Eigen::Vector3f	getTangent (void)
	Returns tangent vector in last time evaluate called. More...
Eigen::Vector3f	getTangent (float dt0, float dt1)
	Returns tangent vector between between two times given. More...
float	angleBetweenPoints (void)
	Returns interpolated angle between last and current time. More...
float	angleBetweenPoints (float dt0, float dt1)
	Returns interpolated angle between last and current time. More...

Protected Member Functions
float	_catmullRom (float p0, float p1, float p2, float p3, float t)
	Evaluate catmull rom spline with 4 given values and time. More...

Protected Attributes
std::vector< Eigen::Vector3f >	_points
	List of points who defineds the spline.
float	_currentdt
	Current time used (default = 0.0f)
float	_olddt
	Last time used (default = 0.0f)

Detailed Description

Class to manage spline structs.

Definition at line 36 of file Spline.h.

Constructor & Destructor Documentation

reto::Spline::Spline

(

const std::vector< Eigen::Vector3f > &

points

)

Create a new Spline object.

Parameters

points

Point list who define the spline.

Member Function Documentation

float reto::Spline::_catmullRom ( float  p0, float  p1, float  p2, float  p3, float  t  )

protected

Evaluate catmull rom spline with 4 given values and time.

Parameters

p0	First value
p1	Second value
p2	Third value
p3	Fourth value
t	Time to evaluate

Returns

Interpolated value

float reto::Spline::angleBetweenPoints

(

void

)

Returns interpolated angle between last and current time.

Returns

angle (in radians).

float reto::Spline::angleBetweenPoints	(	float	dt0,
		float	dt1
	)

Returns interpolated angle between last and current time.

Parameters

dt0	Last time
dt1	Current time

Returns

angle (in radians).

Eigen::Vector3f reto::Spline::evaluate

(

float

dt

)

Evaluate the spline in a specific time.

Parameters

dt	Time to evaluate. Must be in [0, 1] interval.

Returns

Interpolated position in dt time.

Eigen::Vector3f reto::Spline::getTangent

(

void

)

Returns tangent vector in last time evaluate called.

Returns

Intepolated tangent in dt time.

Eigen::Vector3f reto::Spline::getTangent	(	float	dt0,
		float	dt1
	)

Returns tangent vector between between two times given.

Parameters

dt0	Last time
dt1	Current time

Returns

Interpolated tangent in position.

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

• Spline.h