12 #include <Eigen/Dense> 14 #include <boost/smart_ptr/shared_ptr.hpp> 18 template <
typename Time,
typename Numeric,
bool Safe,
typename Po
int,
typename Po
int_derivate>
21 template <
typename Time,
typename Numeric,
bool Safe,
typename Po
int>
24 template <
typename Time,
typename Numeric,
bool Safe,
typename Po
int,
typename Po
int_derivate>
25 struct constant_curve;
27 template <
typename Time,
typename Numeric,
bool Safe,
typename Po
int>
28 struct cubic_hermite_spline;
30 template <
typename Time,
typename Numeric,
bool Safe,
typename Po
int,
typename T_Po
int,
typename SplineBase>
33 template <
typename Time,
typename Numeric,
bool Safe,
typename Po
int,
typename Po
int_derivate,
typename CurveType>
36 template <
typename Time,
typename Numeric,
bool Safe,
typename Po
int,
typename T_Po
int>
39 template <
typename Time,
typename Numeric,
bool Safe>
42 template <
typename Time,
typename Numeric,
bool Safe,
typename Po
int>
45 template <
typename Time,
typename Numeric,
bool Safe>
48 template <
typename Numeric>
51 template <
typename Po
int>
54 template <
typename Numeric,
bool Safe>
57 template <
typename Numeric>
68 typedef Eigen::Transform<double, 3, Eigen::Affine>
transform_t;
69 typedef std::vector<point3_t, Eigen::aligned_allocator<point3_t> >
t_point3_t;
70 typedef std::vector<pointX_t, Eigen::aligned_allocator<pointX_t> >
t_pointX_t;
110 #endif // CURVES_FWD_H Eigen::VectorXd pointX_t
Definition: fwd.h:64
Composition of a curve of any type of dimension 3 and a curve representing an rotation (in current im...
Definition: fwd.h:40
cubic_hermite_spline< double, double, true, pointX_t > cubic_hermite_spline_t
Definition: fwd.h:91
Eigen::Matrix< double, 6, 1 > point6_t
Definition: fwd.h:63
std::vector< point3_t, Eigen::aligned_allocator< point3_t > > t_point3_t
Definition: fwd.h:69
sinusoidal< double, double, true, pointX_t > sinusoidal_t
Definition: fwd.h:93
Eigen::Vector3d point3_t
Definition: fwd.h:58
polynomial< double, double, true, point3_t, t_point3_t > polynomial3_t
Definition: fwd.h:96
constant_curve< double, double, true, point3_t, point3_t > constant3_t
Definition: fwd.h:99
Definition: curve_constraint.h:21
boost::shared_ptr< curve_3_t > curve3_ptr_t
Definition: fwd.h:82
Definition: bernstein.h:20
Eigen::Transform< double, 3, Eigen::Affine > transform_t
Definition: fwd.h:68
Represents a polynomial of an arbitrary order defined on the interval . It follows the equation : ...
Definition: fwd.h:37
Represents a sinusoidal curve, evaluating the following equation: p0 + amplitude * (sin(2pi/T + phi) ...
Definition: fwd.h:43
Eigen::Quaternion< double > quaternion_t
Definition: fwd.h:67
exact_cubic< double, double, true, point3_t, t_point3_t, polynomial_t > exact_cubic3_t
Definition: fwd.h:97
curve_abc< double, double, true, matrix3_t, point3_t > curve_rotation_t
Definition: fwd.h:76
piecewise_curve< double, double, true, pointX_t, pointX_t, curve_abc_t > piecewise_t
Definition: fwd.h:92
piecewise_curve< double, double, true, transform_t, point6_t, curve_SE3_t > piecewise_SE3_t
Definition: fwd.h:106
Eigen::Matrix< double, 4, 4 > matrix4_t
Definition: fwd.h:66
boost::shared_ptr< curve_rotation_t > curve_rotation_ptr_t
Definition: fwd.h:83
SO3Linear< double, double, true > SO3Linear_t
Definition: fwd.h:104
Definition: exact_cubic.h:41
Eigen::Matrix< double, 3, 3 > matrix3_t
Definition: fwd.h:65
Definition: cubic_hermite_spline.h:36
curve_abc< double, double, true, transform_t, point6_t > curve_SE3_t
Definition: fwd.h:78
constant_curve< double, double, true, pointX_t, pointX_t > constant_t
Definition: fwd.h:90
Represents a constant_curve curve, always returning the same value and a null derivative.
Definition: constant_curve.h:20
boost::shared_ptr< curve_SE3_t > curve_SE3_ptr_t
Definition: fwd.h:84
cubic_hermite_spline< double, double, true, point3_t > cubic_hermite_spline3_t
Definition: fwd.h:100
bezier_curve< double, double, true, point3_t > bezier3_t
Definition: fwd.h:98
exact_cubic< double, double, true, pointX_t, t_pointX_t, polynomial_t > exact_cubic_t
Definition: fwd.h:88
curve_abc< double, double, true, pointX_t, pointX_t > curve_abc_t
Definition: fwd.h:73
Represents a linear interpolation in SO3, using the slerp method provided by Eigen::Quaternion.
Definition: fwd.h:46
SE3Curve< double, double, true > SE3Curve_t
Definition: fwd.h:105
curve_abc< double, double, true, point3_t, point3_t > curve_3_t
Definition: fwd.h:74
piecewise_curve< double, double, true, point3_t, point3_t, curve_3_t > piecewise3_t
Definition: fwd.h:101
boost::shared_ptr< curve_abc_t > curve_ptr_t
Definition: fwd.h:81
polynomial< double, double, true, pointX_t, t_pointX_t > polynomial_t
Definition: fwd.h:87
std::vector< pointX_t, Eigen::aligned_allocator< pointX_t > > t_pointX_t
Definition: fwd.h:70
Represents a curve of dimension Dim. If value of parameter Safe is false, no verification is made on ...
Definition: curve_abc.h:34
Definition: bezier_curve.h:32
bezier_curve< double, double, true, pointX_t > bezier_t
Definition: fwd.h:89