InterpolatorTrajectoryIterator< T > Class Template Reference

Bi-directional iterator for running efficiently through a trajectory. More...

#include <InterpolatorTrajectoryIterator.hpp>

Inherits TrajectoryIterator< T >.

Public Member Functions
	InterpolatorTrajectoryIterator (const InterpolatorTrajectory< T > *trajectory, double dt=1)
	Constructs iterator for trajectory. More...
virtual	~InterpolatorTrajectoryIterator ()
	destructor
double	getTime ()
	Returns the current position (time) of the iterator. More...
void	operator-= (double dt)
	This function can be used to decrease the iterator position. The position can be decreased no longer than to time equals 0. More...
void	operator+= (double dt)
	This function can be used to increase the iterator position. The position can be increased no longer than the length of the complete trajectory. More...
rw::trajectory::TrajectoryIterator &	operator++ ()
	Operator overloading ++ for increasing the position of the iterator. More...
rw::trajectory::TrajectoryIterator &	operator-- ()
	Operator overloading – for decreasing the position of the iterator. More...
bool	isEnd ()
	Test if the end of the trajectory is reached. More...
bool	isBegin ()
	Test if the beginning of the trajectory is reached. More...
T	operator* () const
	Extracts a point at the current position in the trajectory. More...
T	x () const
	Extracts a point at the current position in the trajectory. More...
T	dx () const
	Extracts a point of the derivative of the trajectory at the current position in the trajectory. More...
T	ddx () const
	Extracts a point of the double derivative of the trajectory at the current position in the trajectory. More...
Public Member Functions inherited from TrajectoryIterator< T >
virtual	~TrajectoryIterator ()
	destructor
virtual double	getTime () const =0
	Returns the current position (time) of the iterator. More...
virtual void	inc ()=0
	Method for increasing the position of the iterator a fixed amount. More...
virtual void	inc (double dt)=0
	Method for increasing the position of the iterator by dt. More...
virtual void	dec ()=0
	Method for decreasing the position of the iterator a fixed amount. More...
virtual void	dec (double dt)=0
	Method for decreasing the position of the iterator a fixed amount. More...
virtual void	operator++ (int)
	Operator overloading ++ for increasing the position of the iterator. More...
virtual void	operator-- (int)
	Operator overloading – for decreasing the position of the iterator. More...
virtual bool	isEnd () const =0
	Test if the end of the trajectory is reached. More...
virtual bool	isBegin () const =0
	Test if the beginning of the trajectory is reached. More...

Additional Inherited Members
Public Types inherited from TrajectoryIterator< T >
typedef rw::core::Ptr< TrajectoryIterator< T > >	Ptr
	smart pointer type

Detailed Description

template<class T>
class rw::trajectory::InterpolatorTrajectoryIterator< T >

Bi-directional iterator for running efficiently through a trajectory.

Constructor & Destructor Documentation

InterpolatorTrajectoryIterator()

InterpolatorTrajectoryIterator ( const InterpolatorTrajectory< T > *  trajectory, double  dt = 1  )

inline

Constructs iterator for trajectory.

Parameters

trajectory	[in] Trajectory to iterate through
dt	[in] Default stepsize used for ++ and – operators

Member Function Documentation

ddx()

T ddx ( ) const

inlinevirtual

Extracts a point of the double derivative of the trajectory at the current position in the trajectory.

Returns

the double derived point at the current position in the trajectory.

Implements TrajectoryIterator< T >.

dx()

T dx ( ) const

inlinevirtual

Extracts a point of the derivative of the trajectory at the current position in the trajectory.

Returns

the derived point at the current position in the trajectory.

Implements TrajectoryIterator< T >.

getTime()

double getTime ( )

inline

Returns the current position (time) of the iterator.

Returns

The current time.

isBegin()

bool isBegin ( )

inline

Test if the beginning of the trajectory is reached.

Returns

true if the iterator has reached the beginning of the trajectory false otherwise.

isEnd()

bool isEnd ( )

inline

Test if the end of the trajectory is reached.

Returns

true if the iterator has reached the end of the trajectory false otherwise.

operator*()

T operator* ( ) const

inlinevirtual

Extracts a point at the current position in the trajectory.

Returns

the point at the current position in the trajectory.

Implements TrajectoryIterator< T >.

operator++()

rw::trajectory::TrajectoryIterator& operator++ ( )

inlinevirtual

Operator overloading ++ for increasing the position of the iterator.

Usage: ++iterator

The increment is equal to the dt specified in the constructor.

Returns

Reference to the TrajectoryIterator

Reimplemented from TrajectoryIterator< T >.

operator+=()

void operator+= ( double  dt )

inlinevirtual

This function can be used to increase the iterator position. The position can be increased no longer than the length of the complete trajectory.

Parameters

dt	[in] a double that describes how much to increase the iterator position

Reimplemented from TrajectoryIterator< T >.

operator--()

rw::trajectory::TrajectoryIterator& operator-- ( )

inlinevirtual

Operator overloading – for decreasing the position of the iterator.

Usage: –iterator;

The decrement is equal to the dt specified in the constructor.

Returns

Reference to the TrajectoryIterator

Reimplemented from TrajectoryIterator< T >.

operator-=()

void operator-= ( double  dt )

inlinevirtual

This function can be used to decrease the iterator position. The position can be decreased no longer than to time equals 0.

Parameters

dt	[in] a double that describes how much to decrease the iterator position

Reimplemented from TrajectoryIterator< T >.

x()

T x ( ) const

inlinevirtual

Extracts a point at the current position in the trajectory.

Returns

the point at the current position in the trajectory.

Implements TrajectoryIterator< T >.

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

• InterpolatorTrajectoryIterator.hpp