Trajectory Class Reference

This class is used to update entities based on trajectory defined by keyframes. More...

#include <RobotAPI/libraries/SimpleTrajectory/Trajectory.h>

Public Member Functions
void	addKeyframe (const TrackID &id, const VariantKeyframe &keyframe)
	Add a keyframe to the specified track. More...
void	addKeyframe (const TrackID &id, float time, const VariantValue &value)
	Add a keyframe to the specified track. More...
VariantTrack &	addTrack (const TrackID &id)
	Add track with the given ID (and no update function). More...
VariantTrack &	addTrack (const TrackID &id, const VariantTrack::UpdateFunc &updateFunc)
	Add track with the given ID and update function. More...
void	clear ()
	Clear the trajectory of all tracks. More...
VariantTrack &	operator[] (const TrackID &id)
	Get the track with the given ID. More...
const VariantTrack &	operator[] (const TrackID &id) const
	Get the track with the given ID. More...
	Trajectory ()
	Constructor. More...
void	update (float time, bool ignoreEmptyTracks=false)
	Update all tracks for the given time. More...

Friends
std::ostream &	operator<< (std::ostream &os, const Trajectory &trajectory)

Detailed Description

This class is used to update entities based on trajectory defined by keyframes.

A Trajectory is a collection of tracks, where each track represents a timeline of a single value. A track is composed of keyframes, where each keyframe represents a value at a specific time on the timeline.

See also

Track

Definition at line 21 of file Trajectory.h.

Constructor & Destructor Documentation

Trajectory()

Trajectory

(

)

Constructor.

Definition at line 7 of file Trajectory.cpp.

Member Function Documentation

addKeyframe() [1/2]

void addKeyframe	(	const TrackID &	id,
		const VariantKeyframe &	keyframe
	)

Add a keyframe to the specified track.

Exceptions

<tt>error::NoTrackWithID</tt>

if there is not track with the given ID

Definition at line 25 of file Trajectory.cpp.

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addKeyframe() [2/2]

void addKeyframe	(	const TrackID &	id,
		float	time,
		const VariantValue &	value
	)

Add a keyframe to the specified track.

Exceptions

<tt>error::NoTrackWithID</tt>

if there is not track with the given ID

Definition at line 30 of file Trajectory.cpp.

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addTrack() [1/2]

VariantTrack & addTrack

(

const TrackID &

id

)

Add track with the given ID (and no update function).

If there is already a track with the given ID, it is overwritten.

Definition at line 15 of file Trajectory.cpp.

addTrack() [2/2]

VariantTrack & addTrack	(	const TrackID &	id,
		const VariantTrack::UpdateFunc &	updateFunc
	)

Add track with the given ID and update function.

If there is already a track with the given ID, it is overwritten.

Definition at line 20 of file Trajectory.cpp.

clear()

void clear

(

)

Clear the trajectory of all tracks.

Definition at line 10 of file Trajectory.cpp.

operator[]() [1/2]

VariantTrack & operator[]

(

const TrackID &

id

)

Get the track with the given ID.

Exceptions

<tt>error::NoTrackWithID</tt>

if there is not track with the given ID

Definition at line 43 of file Trajectory.cpp.

operator[]() [2/2]

const VariantTrack & operator[]

(

const TrackID &

id

)

const

Get the track with the given ID.

Exceptions

<tt>error::NoTrackWithID</tt>

if there is not track with the given ID

Definition at line 55 of file Trajectory.cpp.

update()

void update	(	float	time,
		bool	ignoreEmptyTracks = false
	)

Update all tracks for the given time.

Parameters

ignoreEmptyTracks

If true, empty tracks are ignored.

Exceptions

<tt>error::EmptyTrack</tt>

If ignoreEmptyTracks is false and a track is empty.

Definition at line 35 of file Trajectory.cpp.

Friends And Related Function Documentation

operator<<

std::ostream& operator<< ( std::ostream &  os, const Trajectory &  trajectory  )

friend

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

• RobotAPI/libraries/SimpleTrajectory/Trajectory.h
• RobotAPI/libraries/SimpleTrajectory/Trajectory.cpp