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hpp-bezier-com-traj 6.0.0
Multi contact trajectory generation for the COM using Bezier curves
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Functions | |
| coefs_t | evaluateCurveAtTime (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) | |
| coefs_t | evaluateAccelerationCurveAtTime (const std::vector< point_t > &pi, double T, double t) |
| std::vector< point_t > | computeConstantWaypoints (const ProblemData &pData, double T) |
| bezier_wp_t::t_point_t | computeWwaypoints (const ProblemData &pData, double T) |
| coefs_t | computeFinalVelocityPoint (const ProblemData &pData, double T) |
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evaluateCurveAtTime compute the expression of the point on the curve at t, defined by the waypoint pi and one free waypoint (x)
and only final position (degree = 4)
| pi | constant waypoints of the curve, assume p0 p1 x p2 p3 |
| t | param (normalized !) |