Spl_cubic Class Reference

#include <trajectory.h>

Inheritance diagram for Spl_cubic:

List of all members.

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Detailed Description

Natural cubic splines class.

Definition at line 91 of file trajectory.h.

Public Member Functions
	Spl_cubic ()
	Spl_cubic (const Matrix &pts)
	Constructor.
short	interpolating (const Real t, ColumnVector &s)
	Interpolating the spline at time t. Extrapolating is not allowed.
short	first_derivative (const Real t, ColumnVector &ds)
	Spline first derivative at time t.
short	second_derivative (const Real t, ColumnVector &dds)
	Spline second derivative at time t.
Private Attributes
int	nb_path
	Number of path, i.e: path in x,y,z nb_path=3.
Matrix	Ak
Matrix	Bk
Matrix	Ck
Matrix	Dk
RowVector	tk
	Time at control points.
bool	bad_data
	Status flag.

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Constructor & Destructor Documentation

Spl_cubic::Spl_cubic

(

const Matrix &

pts

)

Constructor.

Parameters:

pts,:

Matrix containing the spline data.

The first line of the Matrix contain the sampling time Second line contain data (sk) to create spline i. Third " " i+1. on Nth line i+N.

The spline has the following form:

Definition at line 58 of file trajectory.cpp.

References Ak, bad_data, Bk, Ck, Dk, nb_path, and tk.

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