TrajectorySampler Class Reference

High-efficiency streaming sampler for real-time control loops. More...

#include <trajectory.h>

Public Member Functions
	TrajectorySampler (const Trajectory &trajectory)
	Constructs a TrajectorySampler bound to a target Trajectory.
void	reset ()
	Resets cached index back to start.
Trajectory::State	sample (units::Time t)
	Samples state at timestamp t using cached sequential lookup (O(1)).

Detailed Description

High-efficiency streaming sampler for real-time control loops.

Caches the search index during sequential calls to sample(units::Time t), achieving O(1) step lookup in 100Hz loop cycles.

Constructor & Destructor Documentation

TrajectorySampler()

TrajectorySampler::TrajectorySampler ( const Trajectory & trajectory )

inlineexplicit

Constructs a TrajectorySampler bound to a target Trajectory.

Warning

The TrajectorySampler holds a non-owning pointer to the trajectory. The provided Trajectory object MUST outlive the sampler. Do not pass temporary objects.

Parameters

trajectory

Reference to trajectory to sample.

Member Function Documentation

sample()

Trajectory::State TrajectorySampler::sample ( units::Time t )

inline

Samples state at timestamp t using cached sequential lookup (O(1)).

Parameters

t	Target timestamp.

Returns

Interpolated State.

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

• trajectory.h