| ▼Nndcurves | |
| ▼Nhelpers | |
| Ceffector_spline_rotation | Represents a trajectory for and end effector. uses the method effector_spline to create a spline trajectory. Additionally, handles the rotation of the effector as follows: does not rotate during the take off and landing phase, then uses a SLERP algorithm to interpolate the rotation in the quaternion space |
| Crotation_spline | |
| ▼Noptimization | |
| Cproblem_data | |
| Cproblem_definition | |
| Cquadratic_problem | |
| ▼Nserialization | |
| CSerializable | |
| CBern | |
| Cbezier_curve | |
| Cconstant_curve | Represents a constant_curve curve, always returning the same value and a null derivative |
| Ccubic_hermite_spline | |
| Ccurve_abc | Represents a curve of dimension Dim. If value of parameter Safe is false, no verification is made on the evaluation of the curve |
| Ccurve_constraints | |
| Cexact_cubic | |
| Clinear_variable | |
| Cpiecewise_curve | |
| Cpolynomial | Represents a polynomial of an arbitrary order defined on the interval where N is the order and |
| Cquadratic_variable | |
| CSE3Curve | 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) |
| Csinusoidal | Represents a sinusoidal curve, evaluating the following equation: p0 + amplitude * (sin(2pi/T + phi) |
| CSO3Linear | Represents a linear interpolation in SO3, using the slerp method provided by Eigen::Quaternion |
| CSO3Smooth | |
| CBezierCurve | Represents a Bezier curve of arbitrary dimension and order. For degree lesser than 4, the evaluation is analitycal. Otherwise the bernstein polynoms are used to evaluate the spline at a given location |
| CCubicHermiteSpline | Represents a set of cubic hermite splines defining a continuous function A hermite cubic spline : |
| CExactCubic | Represents a set of cubic splines defining a continuous function crossing each of the waypoint given in its initialization |
| CPiecewiseCurve | Represent a piecewise curve. We can add some new curve, but the starting time of the curve to add should be equal to the ending time of the actual piecewise_curve. \ Example : A piecewise curve composed of three curves cf0, cf1 and cf2 where cf0 is defined between |