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struct | Bern |
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struct | bezier_curve |
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class | constant_curve |
| Represents a constant_curve curve, always returning the same value and a null derivative. More...
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struct | cubic_hermite_spline |
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struct | curve_abc |
| Represents a curve of dimension Dim. If value of parameter Safe is false, no verification is made on the evaluation of the curve. More...
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struct | curve_constraints |
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struct | exact_cubic |
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struct | linear_variable |
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struct | piecewise_curve |
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class | polynomial |
| Represents a polynomial of an arbitrary order defined on the interval . It follows the equation :

where N is the order and . More...
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struct | quadratic_variable |
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class | SE3Curve |
| Composition of a curve of any type of dimension 3 and a curve representing an rotation (in current implementation, only SO3Linear can be used for the rotation part) The output is a vector of size 7 (pos_x,pos_y,pos_z,quat_x,quat_y,quat_z,quat_w) The output of the derivative of any order is a vector of size 6 (linear_x,linear_y,linear_z,angular_x,angular_y,angular_z) More...
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class | sinusoidal |
| Represents a sinusoidal curve, evaluating the following equation: p0 + amplitude * (sin(2pi/T + phi) More...
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class | SO3Linear |
| Represents a linear interpolation in SO3, using the slerp method provided by Eigen::Quaternion. More...
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typedef Eigen::Vector3d | point3_t |
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typedef Eigen::Matrix< double, 6, 1 > | point6_t |
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typedef Eigen::VectorXd | pointX_t |
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typedef Eigen::Matrix< double, 3, 3 > | matrix3_t |
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typedef Eigen::Matrix< double, 4, 4 > | matrix4_t |
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typedef Eigen::Quaternion< double > | quaternion_t |
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typedef Eigen::Transform< double, 3, Eigen::Affine > | transform_t |
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typedef std::vector< point3_t, Eigen::aligned_allocator< point3_t > > | t_point3_t |
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typedef std::vector< pointX_t, Eigen::aligned_allocator< pointX_t > > | t_pointX_t |
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typedef curve_abc< double, double, true, pointX_t, pointX_t > | curve_abc_t |
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typedef curve_abc< double, double, true, point3_t, point3_t > | curve_3_t |
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typedef curve_abc< double, double, true, matrix3_t, point3_t > | curve_rotation_t |
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typedef curve_abc< double, double, true, transform_t, point6_t > | curve_SE3_t |
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typedef boost::shared_ptr< curve_abc_t > | curve_ptr_t |
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typedef boost::shared_ptr< curve_3_t > | curve3_ptr_t |
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typedef boost::shared_ptr< curve_rotation_t > | curve_rotation_ptr_t |
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typedef boost::shared_ptr< curve_SE3_t > | curve_SE3_ptr_t |
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typedef polynomial< double, double, true, pointX_t, t_pointX_t > | polynomial_t |
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typedef exact_cubic< double, double, true, pointX_t, t_pointX_t, polynomial_t > | exact_cubic_t |
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typedef bezier_curve< double, double, true, pointX_t > | bezier_t |
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typedef constant_curve< double, double, true, pointX_t, pointX_t > | constant_t |
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typedef cubic_hermite_spline< double, double, true, pointX_t > | cubic_hermite_spline_t |
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typedef piecewise_curve< double, double, true, pointX_t, pointX_t, curve_abc_t > | piecewise_t |
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typedef sinusoidal< double, double, true, pointX_t > | sinusoidal_t |
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typedef polynomial< double, double, true, point3_t, t_point3_t > | polynomial3_t |
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typedef exact_cubic< double, double, true, point3_t, t_point3_t, polynomial_t > | exact_cubic3_t |
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typedef bezier_curve< double, double, true, point3_t > | bezier3_t |
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typedef constant_curve< double, double, true, point3_t, point3_t > | constant3_t |
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typedef cubic_hermite_spline< double, double, true, point3_t > | cubic_hermite_spline3_t |
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typedef piecewise_curve< double, double, true, point3_t, point3_t, curve_3_t > | piecewise3_t |
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typedef SO3Linear< double, double, true > | SO3Linear_t |
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typedef SE3Curve< double, double, true > | SE3Curve_t |
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typedef piecewise_curve< double, double, true, transform_t, point6_t, curve_SE3_t > | piecewise_SE3_t |
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typedef double | real |
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typedef std::vector< real > | t_time_t |
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typedef Eigen::VectorXd | time_waypoints_t |
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typedef Eigen::Matrix< double, Eigen::Dynamic, 1, 0, Eigen::Dynamic, 1 > | ret_pointX_t |
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typedef std::pair< pointX_t, pointX_t > | pair_pointX_tangent_t |
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typedef Eigen::MatrixXd | pointX_list_t |
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typedef std::vector< pair_pointX_tangent_t, Eigen::aligned_allocator< pair_pointX_tangent_t > > | t_pair_pointX_tangent_t |
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typedef curves::curve_constraints< pointX_t > | curve_constraints_t |
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typedef curves::curve_constraints< point3_t > | curve_constraints3_t |
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typedef std::pair< real, pointX_t > | waypoint_t |
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typedef std::vector< waypoint_t > | t_waypoint_t |
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typedef Eigen::Matrix< real, Eigen::Dynamic, Eigen::Dynamic > | point_listX_t |
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typedef Eigen::Matrix< real, 3, Eigen::Dynamic > | point_list3_t |
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typedef Eigen::Matrix< real, 6, Eigen::Dynamic > | point_list6_t |
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typedef polynomial_t::coeff_t | coeff_t |
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typedef curves::Bern< double > | bernstein_t |
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template<typename T > |
bool | isApprox (const T a, const T b, const T eps=1e-6) |
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template<typename Polynomial > |
Polynomial | polynomial_from_curve (const typename Polynomial::curve_abc_t &curve) |
| Converts a cubic hermite spline or a bezier curve to a polynomial. More...
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template<typename Bezier > |
Bezier | bezier_from_curve (const typename Bezier::curve_abc_t &curve) |
| Converts a cubic hermite spline or polynomial of order 3 or less to a cubic bezier curve. More...
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template<typename Hermite > |
Hermite | hermite_from_curve (const typename Hermite::curve_abc_t &curve) |
| Converts a polynomial of order 3 or less/cubic bezier curve to a cubic hermite spline. More...
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template<typename N , bool S> |
linear_variable< N, S > | operator+ (const linear_variable< N, S > &w1, const linear_variable< N, S > &w2) |
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template<typename N , bool S> |
linear_variable< N, S > | operator- (const linear_variable< N, S > &w1, const linear_variable< N, S > &w2) |
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template<typename N , bool S> |
linear_variable< N, S > | operator* (const double k, const linear_variable< N, S > &w) |
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template<typename N , bool S> |
linear_variable< N, S > | operator* (const linear_variable< N, S > &w, const double k) |
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template<typename N , bool S> |
linear_variable< N, S > | operator/ (const linear_variable< N, S > &w, const double k) |
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template<typename BezierFixed , typename BezierLinear , typename X > |
BezierFixed | evaluateLinear (const BezierLinear &bIn, const X x) |
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template<typename _Matrix_Type_ > |
void | PseudoInverse (_Matrix_Type_ &pinvmat) |
| An inverse kinematics architecture enforcing an arbitrary number of strict priority levels (Reference : Boulic et Al. 2003) More...
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template<typename PointList , typename T_Point > |
T_Point | vectorFromEigenArray (const PointList &array) |
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template<typename PointList , typename T_Point > |
T_Point | vectorFromEigenVector (const PointList &vector) |
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template<typename T_point , typename PointList > |
PointList | vectorToEigenArray (const T_point &vect) |
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template<typename N > |
Eigen::Matrix< N, Eigen::Dynamic, Eigen::Dynamic > | to_diagonal (const Eigen::Ref< const Eigen::Matrix< N, Eigen::Dynamic, 1 > > vec) |
| Transforms a vector into a diagonal matrix. More...
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template<typename N > |
quadratic_variable< N > | operator* (const linear_variable< N > &w1, const linear_variable< N > &w2) |
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template<typename N > |
quadratic_variable< N > | operator+ (const quadratic_variable< N > &w1, const quadratic_variable< N > &w2) |
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template<typename N > |
quadratic_variable< N > | operator- (const quadratic_variable< N > &w1, const quadratic_variable< N > &w2) |
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template<typename N > |
quadratic_variable< N > | operator* (const double k, const quadratic_variable< N > &w) |
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template<typename N > |
quadratic_variable< N > | operator* (const quadratic_variable< N > &w, const double k) |
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template<typename N > |
quadratic_variable< N > | operator/ (const quadratic_variable< N > &w, const double k) |
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