aikido::statespace::Interpolator Class Reference

Method of interpolating between two states in a StateSpace. More...

#include <aikido/statespace/Interpolator.hpp>

Inheritance diagram for aikido::statespace::Interpolator:

Public Member Functions
virtual	~Interpolator ()=default
virtual statespace::ConstStateSpacePtr	getStateSpace () const =0
	Gets the StateSpace on which this Interpolator operates. More...
virtual std::size_t	getNumDerivatives () const =0
	Upper bound on the number of non-zero derivatives. More...
virtual void	interpolate (const statespace::StateSpace::State *_from, const statespace::StateSpace::State *_to, double _alpha, statespace::StateSpace::State *_state) const =0
	Computes the state that lies at path parameter _alpha along the path that connects _from to _to. More...
virtual void	getDerivative (const statespace::StateSpace::State *_from, const statespace::StateSpace::State *_to, std::size_t _derivative, double _alpha, Eigen::VectorXd &_tangentVector) const =0
	Computes the _derivative-th derivative of the path at path parameter _alpha between _from and _to. More...

Detailed Description

Method of interpolating between two states in a StateSpace.

Constructor & Destructor Documentation

~Interpolator()

virtual aikido::statespace::Interpolator::~Interpolator ( )

virtualdefault

Member Function Documentation

getDerivative()

virtual void aikido::statespace::Interpolator::getDerivative ( const statespace::StateSpace::State *  _from, const statespace::StateSpace::State *  _to, std::size_t  _derivative, double  _alpha, Eigen::VectorXd &  _tangentVector  ) const

pure virtual

Computes the _derivative-th derivative of the path at path parameter _alpha between _from and _to.

The output is an element of the tangent space in the local (i.e. "body") frame.

Parameters

	_from	start state in getStateSpace()
	_to	end state in getStateSpace()
	_derivative	order of the derivative to compute
	_alpha	path parameter in the range [0, 1]
[out]	_tangentVector	output element of the tangent space

Implemented in aikido::statespace::GeodesicInterpolator.

getNumDerivatives()

virtual std::size_t aikido::statespace::Interpolator::getNumDerivatives ( ) const

pure virtual

Upper bound on the number of non-zero derivatives.

Implemented in aikido::statespace::GeodesicInterpolator.

getStateSpace()

virtual statespace::ConstStateSpacePtr aikido::statespace::Interpolator::getStateSpace ( ) const

pure virtual

Gets the StateSpace on which this Interpolator operates.

Implemented in aikido::statespace::GeodesicInterpolator.

interpolate()

virtual void aikido::statespace::Interpolator::interpolate ( const statespace::StateSpace::State *  _from, const statespace::StateSpace::State *  _to, double  _alpha, statespace::StateSpace::State *  _state  ) const

pure virtual

Computes the state that lies at path parameter _alpha along the path that connects _from to _to.

By definition interpolate(0) is _from and interpolate(1) is _to. The memory location of _state must differ from the memory locations of _from and _to.

Parameters

	_from	start state in getStateSpace()
	_to	end state in getStateSpace()
	_alpha	path parameter in the range [0, 1]
[out]	_state	output interpolated state

Implemented in aikido::statespace::GeodesicInterpolator.