6 #ifndef BEZIER_COM_TRAJ_WP_DEF_H 7 #define BEZIER_COM_TRAJ_WP_DEF_H 25 const std::vector<point_t>& pi,
double t);
35 const std::vector<point_t>& pi,
double T,
46 const std::vector<point_t>& pi,
57 const std::vector<point_t>& pi,
double T,
78 const ProblemData& pData,
double T);
88 const ProblemData& pData,
const double T,
89 std::vector<bezier_t::point_t> pi = std::vector<bezier_t::point_t>());
99 const ProblemData& pData,
const double T,
100 std::vector<bezier_t::point_t> pi = std::vector<bezier_t::point_t>());
110 const ProblemData& pData,
const double T,
111 std::vector<bezier_t::point_t> pi = std::vector<bezier_t::point_t>());
114 const std::vector<point_t>& pi,
118 const std::vector<point_t>& pi,
121 const ProblemData& pData,
const double T,
const std::vector<point_t>& pi,
125 const std::vector<point_t>& pi,
139 int dimVar(
const ProblemData& pData);
142 const ProblemData& pData,
double T,
143 std::vector<bezier_t::point_t> pi = std::vector<bezier_t::point_t>());
std::vector< waypoint_t > computeVelocityWaypoints(const ProblemData &pData, const double T, std::vector< bezier_t::point_t > pi=std::vector< bezier_t::point_t >())
computeWwaypoints compute the constant waypoints of dc(t) defined by the constraints on initial and f...
Definition: waypoints_definition.cpp:335
bezier_wp_t::t_point_t computeWwaypoints(const ProblemData &pData, double T)
computeConstantWaypoints compute the constant waypoints of w(t) defined by the constraints on initial...
Definition: waypoints_definition.cpp:427
waypoint_t evaluateVelocityCurveWaypointAtTime(const ProblemData &pData, const double T, const std::vector< point_t > &pi, double t)
evaluateCurveAtTime compute the expression of the point on the curve c at t, defined by the waypoint ...
Definition: waypoints_definition.cpp:173
std::vector< waypoint_t > computeAccelerationWaypoints(const ProblemData &pData, const double T, std::vector< bezier_t::point_t > pi=std::vector< bezier_t::point_t >())
computeWwaypoints compute the constant waypoints of ddc(t) defined by the constraints on initial and ...
Definition: waypoints_definition.cpp:365
bezier_wp_t::t_point_t computeConstantWaypointsSymbolic(const ProblemData &pData, double T)
computeConstantWaypointsSymbolic compute the constant waypoints of c(t) defined by the constraints on...
Definition: waypoints_definition.cpp:297
coefs_t evaluateJerkCurveAtTime(const ProblemData &pData, const std::vector< point_t > &pi, double T, double t)
evaluateAccelerationCurveAtTime compute the expression of the point on the curve ddc at t...
std::vector< waypoint_t > computeJerkWaypoints(const ProblemData &pData, const double T, std::vector< bezier_t::point_t > pi=std::vector< bezier_t::point_t >())
computeWwaypoints compute the constant waypoints of dddc(t) defined by the constraints on initial and...
Definition: waypoints_definition.cpp:395
coefs_t evaluateAccelerationCurveAtTime(const ProblemData &pData, const std::vector< point_t > &pi, double T, double t)
evaluateAccelerationCurveAtTime compute the expression of the point on the curve ddc at t...
Definition: waypoints_definition.cpp:103
waypoint_t evaluateCurveWaypointAtTime(const ProblemData &pData, const std::vector< point_t > &pi, double t)
evaluateCurveAtTime compute the expression of the point on the curve c at t, defined by the waypoint ...
Definition: waypoints_definition.cpp:138
coefs_t evaluateCurveAtTime(const ProblemData &pData, const std::vector< point_t > &pi, double t)
evaluateCurveAtTime compute the expression of the point on the curve c at t, defined by the waypoint ...
Definition: waypoints_definition.cpp:67
coefs_t evaluateVelocityCurveAtTime(const ProblemData &pData, const std::vector< point_t > &pi, double T, double t)
evaluateVelocityCurveAtTime compute the expression of the point on the curve dc at t...
std::pair< double, point3_t > coefs_t
Definition: definitions.hh:62
std::vector< point_t > computeConstantWaypoints(const ProblemData &pData, double T)
computeConstantWaypoints compute the constant waypoints of c(t) defined by the constraints on initial...
Definition: waypoints_definition.cpp:286
waypoint_t evaluateJerkCurveWaypointAtTime(const ProblemData &pData, const double T, const std::vector< point_t > &pi, double t)
evaluateCurveAtTime compute the expression of the point on the curve c at t, defined by the waypoint ...
Definition: waypoints_definition.cpp:246
coefs_t computeFinalVelocityPoint(const ProblemData &pData, double T)
Definition: waypoints_definition.cpp:450
std::pair< MatrixXX, VectorX > computeVelocityCost(const ProblemData &pData, double T, std::vector< bezier_t::point_t > pi=std::vector< bezier_t::point_t >())
computeVelocityCost the matrices H and g defining a cost that minimise the integral of the squared ve...
Definition: waypoints_definition.cpp:479
waypoint_t evaluateAccelerationCurveWaypointAtTime(const ProblemData &pData, const double T, const std::vector< point_t > &pi, double t)
evaluateCurveAtTime compute the expression of the point on the curve c at t, defined by the waypoint ...
Definition: waypoints_definition.cpp:211
Definition: common_solve_methods.hh:15
int dimVar(const ProblemData &pData)
Definition: waypoints_definition.cpp:30