Namespaces | |
| namespace | detail |
| namespace | visualization |
Classes | |
| class | AnthropomorphicCostFunction |
| Cost function from `‘An optimal control model unifying holonomic and nonholonomic walking’' Katja Mombaur, Jean-Paul Laumond, Eiichi Yoshida (2008 8th IEEE-RAS Interational Conference on Humanoid Robots). More... | |
| class | BSpline |
| class | ConstrainedBSpline |
| Constrained B-spline. More... | |
| class | CubicBSpline |
| Cubic B-Spline trajectory. More... | |
| class | FreeTimeTrajectory |
| Decorate a trajectory to make time scalable. More... | |
| class | Freeze |
| Add constraints that freeze parameters. More... | |
| class | FrontalSpeed |
| class | LimitOmega |
| class | LimitSpeed |
| struct | Monomial |
| Monomial. More... | |
| class | OrthogonalSpeed |
| class | Polynomial |
| Polynomial of degree at most N (N >= 0). More... | |
| class | SplineLength |
| Approximate the length of a Spline. More... | |
| class | StablePointStateFunction |
| Trajectory cost function defined by state evaluation at parameter. More... | |
| class | StableTimePoint |
| class | StateFunction |
| Trajectory cost function defined by state evaluation at parameter. More... | |
| class | SumCost |
| class | TMax |
| class | Trajectory |
| Abstract trajectory. More... | |
| class | TrajectoryCost |
| Meta-function for trajectory cost. More... | |
| class | TrajectorySumCost |
| Trajectory cost function defined by sum of state evaluations at parameters. More... | |
| class | VectorInterpolation |
| Takes a vector or argument and differentiate it. More... | |
Typedefs | |
| typedef Polynomial< 3 > | Polynomial3 |
| Polynomial of degree at most 3. | |
| typedef Monomial< 3 > | Monomial3 |
| Monomial3. | |
Functions | |
| Function::vector_t | addScaleToParameters (Function::const_vector_ref p, Function::value_type t=1.) |
| Function::vector_t | removeScaleFromParameters (Function::const_vector_ref v) |
| template<typename P > | |
| Freeze< P > | makeFreeze (P &problem) |
| template<int N> | |
| std::ostream & | operator<< (std::ostream &stream, const Polynomial< N > &p) |
| Print a polynomial to a given output stream. | |
| template<int N> | |
| Polynomial< N > | operator* (typename Polynomial< N >::value_type lambda, const Polynomial< N > &poly) |
| StableTimePoint | operator* (Function::value_type alpha, TMax) |
| StableTimePoint | operator* (TMax, Function::value_type alpha) |
| boost::shared_ptr< VectorInterpolation > | vectorInterpolation (VectorInterpolation::vector_t x, VectorInterpolation::size_type outputSize, VectorInterpolation::value_type dt=1.) |
Variables | |
| static const TMax | tMax = TMax () |
| typedef Monomial<3> roboptim::trajectory::Monomial3 |
Monomial3.
![\[
M (t) = t-t_0
\]](form_9.png)
| typedef Polynomial<3> roboptim::trajectory::Polynomial3 |
Polynomial of degree at most 3.
![\[
P (t) = \sum_{i=0}^{3} a_i (t-t_0)^i
\]](form_8.png)
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| Freeze< P > roboptim::trajectory::makeFreeze | ( | P & | problem | ) |
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| Polynomial< N > roboptim::trajectory::operator* | ( | typename Polynomial< N >::value_type | lambda, |
| const Polynomial< N > & | poly | ||
| ) |
| std::ostream & roboptim::trajectory::operator<< | ( | std::ostream & | stream, |
| const Polynomial< N > & | p | ||
| ) |
Print a polynomial to a given output stream.
| N | polynomial degree. |
| o | output stream. |
| p | polynomial. |
References roboptim::trajectory::Polynomial< N >::print().
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Referenced by roboptim::trajectory::LimitSpeed< T >::addToProblem(), roboptim::trajectory::LimitOmega< T >::addToProblem(), roboptim::trajectory::StateFunction< T >::addToProblem(), roboptim::trajectory::StablePointStateFunction< T >::addToProblem(), roboptim::trajectory::StateFunction< T >::addToProblem(), roboptim::trajectory::visualization::gnuplot::detail::PlotLimitSpeed< T >::operator()(), roboptim::trajectory::visualization::gnuplot::plot_speeds(), roboptim::trajectory::visualization::gnuplot::plot_xy(), roboptim::trajectory::visualization::gnuplot::plot_xytheta(), roboptim::trajectory::FreeTimeTrajectory< T >::resize(), and roboptim::trajectory::FreeTimeTrajectory< T >::unscaleTime().