Trajectory.cpp File Reference

Trajectory class source file. More...

#include "dmp/Trajectory.hpp"
#include "dmpbbo_io/EigenFileIO.hpp"
#include <fstream>
#include <iostream>
#include <vector>
#include <eigen3/Eigen/Core>

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

Detailed Description

Trajectory class source file.

Author

Freek Stulp

This file is part of DmpBbo, a set of libraries and programs for the black-box optimization of dynamical movement primitives. Copyright (C) 2014 Freek Stulp, ENSTA-ParisTech

DmpBbo is free software: you can redistribute it and/or modify it under the terms of the GNU Lesser General Public License as published by the Free Software Foundation, either version 2 of the License, or (at your option) any later version.

DmpBbo is distributed in the hope that it will be useful, but WITHOUT ANY WARRANTY; without even the implied warranty of MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the GNU Lesser General Public License for more details.

You should have received a copy of the GNU Lesser General Public License along with DmpBbo. If not, see http://www.gnu.org/licenses/.

Definition in file Trajectory.cpp.

Function Documentation

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

Parameters

[in]	output	Output stream to which to write to
[in]	trajectory	Trajectory to write

Returns

Output stream

Definition at line 242 of file Trajectory.cpp.

                                                                      {
  MatrixXd traj_matrix(trajectory.length(),1+3*trajectory.dim()+trajectory.dim_misc());
  traj_matrix << trajectory.ts_, trajectory.ys_, trajectory.yds_, trajectory.ydds_, trajectory.misc_; 
  output << traj_matrix << endl;
  return output;
}

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