hpp-bezier-com-traj  4.12.0
Multi contact trajectory generation for the COM using Bezier curves
bezier_com_traj::c0_dc0_ddc0_j0_x5_j1_ddc1_dc1_c1 Namespace Reference

Functions

waypoint_t evaluateCurveWaypointAtTime (const std::vector< point_t > &pi, double t)
 evaluateCurveAtTime compute the expression of the point on the curve at t, defined by the waypoint pi and one free waypoint (x) More...
 
waypoint_t evaluateVelocityCurveWaypointAtTime (const std::vector< point_t > &pi, double T, double t)
 
waypoint_t evaluateAccelerationCurveWaypointAtTime (const std::vector< point_t > &pi, double T, double t)
 
waypoint_t evaluateJerkCurveWaypointAtTime (const std::vector< point_t > &pi, double T, double t)
 
std::vector< point_tcomputeConstantWaypoints (const ProblemData &pData, double T)
 
bezier_wp_t::t_point_t computeWwaypoints (const ProblemData &pData, double T)
 
std::vector< waypoint_tcomputeVelocityWaypoints (const ProblemData &pData, const double T, std::vector< bezier_t::point_t > pi=std::vector< bezier_t::point_t >())
 
std::vector< waypoint_tcomputeAccelerationWaypoints (const ProblemData &pData, const double T, std::vector< bezier_t::point_t > pi=std::vector< bezier_t::point_t >())
 
std::vector< waypoint_tcomputeJerkWaypoints (const ProblemData &pData, const double T, std::vector< bezier_t::point_t > pi=std::vector< bezier_t::point_t >())
 
coefs_t computeFinalVelocityPoint (const ProblemData &pData, double T)
 
std::pair< MatrixXX, VectorXcomputeVelocityCost (const ProblemData &pData, double T, std::vector< bezier_t::point_t > pi=std::vector< bezier_t::point_t >())
 

Function Documentation

◆ computeAccelerationWaypoints()

std::vector<waypoint_t> bezier_com_traj::c0_dc0_ddc0_j0_x5_j1_ddc1_dc1_c1::computeAccelerationWaypoints ( const ProblemData pData,
const double  T,
std::vector< bezier_t::point_t >  pi = std::vector<bezier_t::point_t>() 
)

◆ computeConstantWaypoints()

std::vector<point_t> bezier_com_traj::c0_dc0_ddc0_j0_x5_j1_ddc1_dc1_c1::computeConstantWaypoints ( const ProblemData pData,
double  T 
)
inline

◆ computeFinalVelocityPoint()

coefs_t bezier_com_traj::c0_dc0_ddc0_j0_x5_j1_ddc1_dc1_c1::computeFinalVelocityPoint ( const ProblemData pData,
double  T 
)
inline

◆ computeJerkWaypoints()

std::vector<waypoint_t> bezier_com_traj::c0_dc0_ddc0_j0_x5_j1_ddc1_dc1_c1::computeJerkWaypoints ( const ProblemData pData,
const double  T,
std::vector< bezier_t::point_t >  pi = std::vector<bezier_t::point_t>() 
)

◆ computeVelocityCost()

std::pair<MatrixXX, VectorX> bezier_com_traj::c0_dc0_ddc0_j0_x5_j1_ddc1_dc1_c1::computeVelocityCost ( const ProblemData pData,
double  T,
std::vector< bezier_t::point_t >  pi = std::vector<bezier_t::point_t>() 
)
inline

◆ computeVelocityWaypoints()

std::vector<waypoint_t> bezier_com_traj::c0_dc0_ddc0_j0_x5_j1_ddc1_dc1_c1::computeVelocityWaypoints ( const ProblemData pData,
const double  T,
std::vector< bezier_t::point_t >  pi = std::vector<bezier_t::point_t>() 
)

◆ computeWwaypoints()

bezier_wp_t::t_point_t bezier_com_traj::c0_dc0_ddc0_j0_x5_j1_ddc1_dc1_c1::computeWwaypoints ( const ProblemData pData,
double  T 
)
inline

◆ evaluateAccelerationCurveWaypointAtTime()

waypoint_t bezier_com_traj::c0_dc0_ddc0_j0_x5_j1_ddc1_dc1_c1::evaluateAccelerationCurveWaypointAtTime ( const std::vector< point_t > &  pi,
double  T,
double  t 
)
inline

◆ evaluateCurveWaypointAtTime()

waypoint_t bezier_com_traj::c0_dc0_ddc0_j0_x5_j1_ddc1_dc1_c1::evaluateCurveWaypointAtTime ( const std::vector< point_t > &  pi,
double  t 
)
inline

evaluateCurveAtTime compute the expression of the point on the curve at t, defined by the waypoint pi and one free waypoint (x)

EQUATION FOR CONSTRAINTS ON INIT AND FINAL POSITION AND VELOCITY AND ACCELERATION AND JERK AND 5 variables in

the middle (DEGREE = 10)

Parameters
piconstant waypoints of the curve, assume pi[8] pi[1] pi[2] pi[3] x0 x1 x2 x3 x4 pi[4] pi[5] pi[6] pi[7]
tparam (normalized !)
Returns
the expression of the waypoint such that wp.first . x + wp.second = point on curve

◆ evaluateJerkCurveWaypointAtTime()

waypoint_t bezier_com_traj::c0_dc0_ddc0_j0_x5_j1_ddc1_dc1_c1::evaluateJerkCurveWaypointAtTime ( const std::vector< point_t > &  pi,
double  T,
double  t 
)
inline

◆ evaluateVelocityCurveWaypointAtTime()

waypoint_t bezier_com_traj::c0_dc0_ddc0_j0_x5_j1_ddc1_dc1_c1::evaluateVelocityCurveWaypointAtTime ( const std::vector< point_t > &  pi,
double  T,
double  t 
)
inline