Robotics Library
0.7.0
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Circular segment function that maps from a time x to a point in 3D on a circular trajectory. More...
#include <CircularVector3.h>
Public Member Functions | |
Circular () | |
virtual | ~Circular () |
Circular< Vector3 > * | clone () const |
Real | getAngle () const |
Vector3 | getAxisX () const |
Vector3 | getAxisY () const |
Vector3 | getCenter () const |
Vector3 | operator() (const Real &x, const ::std::size_t &derivative=0) const |
Evaluates the circular segment function for a given x. More... | |
Public Member Functions inherited from rl::math::Function< Vector3 > | |
Function () | |
virtual | ~Function () |
virtual Function * | clone () const=0 |
Real | duration () const |
Real & | lower () |
const Real & | lower () const |
Real & | upper () |
const Real & | upper () const |
Static Public Member Functions | |
static Circular< Vector3 > | ThreePoints (const Vector3 &y0, const Vector3 &yi, const Vector3 &y1, const Real &x1=1) |
Generates a circular segment through three given points in 3D. More... | |
static Circular< Vector3 > | ThreePointsAngle (const Vector3 &y0, const Vector3 &yi, const Vector3 &y1, const Real &angle, const Real &x1=1) |
Generates a circular segment through three given points in 3D with a given segment angle. More... | |
Protected Attributes | |
Real | angle |
Angle of circular motion. More... | |
Vector3 | axisX |
First axis of the circular motion. More... | |
Vector3 | axisY |
Second axis of the circular motion. More... | |
Vector3 | center |
Center of the circle. More... | |
Protected Attributes inherited from rl::math::Function< Vector3 > | |
Real | x0 |
Real | x1 |
Circular segment function that maps from a time x to a point in 3D on a circular trajectory.
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Evaluates the circular segment function for a given x.
Note that only the first two derivatives are implemented, all higher orders will return NaN.
Implements rl::math::Function< Vector3 >.
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Generates a circular segment through three given points in 3D.
The given points must not be (numerically close to) colinear.
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inlinestatic |
Generates a circular segment through three given points in 3D with a given segment angle.
The given points must not be (numerically close to) colinear. Contrary to ThreePoints, where the circular segment ends in y1, the circular segments ends after a given angle. With this, a full circle can be constructed, given an angle of 2*pi. The given segment angle may be any real number, which allows multiple rotations.
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Angle of circular motion.
Any real value is allowed.
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First axis of the circular motion.
Note that at time 0, the function value is (center + axisX).
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Second axis of the circular motion.
After a motion of 90 degrees, the function value is (center + axisY).
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Center of the circle.