curve_constraint.h
Go to the documentation of this file.
1 
11 #ifndef _CLASS_CURVE_CONSTRAINT
12 #define _CLASS_CURVE_CONSTRAINT
13 
14 #include "MathDefs.h"
15 
16 #include <functional>
17 #include <vector>
18 
19 namespace curves {
20 template <typename Point>
22  typedef Point point_t;
23  curve_constraints(const size_t dim = 3)
24  : init_vel(point_t::Zero(dim)),
25  init_acc(point_t::Zero(dim)),
26  init_jerk(point_t::Zero(dim)),
27  end_vel(point_t::Zero(dim)),
28  end_acc(point_t::Zero(dim)),
29  end_jerk(point_t::Zero(dim)),
30  dim_(dim) {}
31 
33  : init_vel(other.init_vel),
34  init_acc(other.init_acc),
35  init_jerk(other.init_jerk),
36  end_vel(other.end_vel),
37  end_acc(other.end_acc),
38  end_jerk(other.end_jerk),
39  dim_(other.dim_) {}
40 
42  point_t init_vel;
43  point_t init_acc;
44  point_t init_jerk;
45  point_t end_vel;
46  point_t end_acc;
47  point_t end_jerk;
48  size_t dim_;
49 };
50 } // namespace curves
51 #endif //_CLASS_CUBICZEROVELACC
point_t init_jerk
Definition: curve_constraint.h:44
point_t end_vel
Definition: curve_constraint.h:45
point_t end_jerk
Definition: curve_constraint.h:47
point_t init_acc
Definition: curve_constraint.h:43
Definition: curve_constraint.h:21
Definition: bernstein.h:20
point_t init_vel
Definition: curve_constraint.h:42
point_t end_acc
Definition: curve_constraint.h:46
curve_constraints(const curve_constraints &other)
Definition: curve_constraint.h:32
size_t dim_
Definition: curve_constraint.h:48
Point point_t
Definition: curve_constraint.h:22
~curve_constraints()
Definition: curve_constraint.h:41
curve_constraints(const size_t dim=3)
Definition: curve_constraint.h:23
Eigen::Matrix< Numeric, Eigen::Dynamic, 1 > Point
Definition: effector_spline.h:28