Abstract trajectory. More...
#include <roboptim/trajectory/trajectory.hh>


Public Types | |
| typedef parent_t::interval_t | interval_t |
| Import interval type. | |
Public Member Functions | |
| ROBOPTIM_NTIMES_DERIVABLE_FUNCTION_FWD_TYPEDEFS_ (NTimesDerivableFunction< DerivabilityOrder >) | |
| Parent type and imports. | |
| virtual | ~Trajectory () |
| result_t | operator() (StableTimePoint argument) const |
| void | operator() (result_ref result, StableTimePoint argument) const |
| derivative_t | derivative (StableTimePoint argument, size_type order=1) const |
| void | derivative (derivative_ref derivative, StableTimePoint argument, size_type order=1) const |
| virtual jacobian_t | variationConfigWrtParam (StableTimePoint tp) const =0 |
| virtual jacobian_t | variationDerivWrtParam (StableTimePoint tp, size_type order) const =0 |
| bool | isValidTime (value_type t) const |
| virtual void | normalizeAngles (size_type index) |
| Normalize angles in parameters array. | |
| virtual Trajectory< DerivabilityOrder > * | clone () const =0 |
| virtual Trajectory< DerivabilityOrder > * | resize (interval_t timeRange) const =0 |
| Clone and resize a trajectory. | |
| virtual std::ostream & | print (std::ostream &) const |
Accessing parameters, and state. | |
| const vector_t & | parameters () const |
| virtual void | setParameters (const vector_t &) |
| Set parameters. | |
| interval_t | timeRange () const |
| value_type | length () const |
| virtual vector_t | state (double t, size_type order) const |
| Get state along trajectory. | |
| virtual vector_t | state (StableTimePoint t, size_type order) const |
Accessing parameters and gradients | |
| virtual jacobian_t | variationConfigWrtParam (double t) const =0 |
| Get the variation of a configuration with respect to parameter vector. | |
| virtual jacobian_t | variationDerivWrtParam (double t, size_type order) const =0 |
| Get the variation of a derivative with respect to parameter vector. | |
| jacobian_t | variationStateWrtParam (double t, size_type order) const |
| Get the variation of the state with respect to parameter vector. | |
| jacobian_t | variationStateWrtParam (StableTimePoint stp, size_type order) const |
Singular points | |
| size_type | singularPoints () const |
| Get number of singular points. | |
| virtual value_type | singularPointAtRank (size_type rank) const =0 |
| Get singular point at given rank. | |
| virtual vector_t | derivBeforeSingularPoint (size_type rank, size_type order) const =0 |
| Get left limit value of derivative at given singular point. | |
| virtual vector_t | derivAfterSingularPoint (size_type rank, size_type order) const =0 |
| Get right limit value of derivative at given singular point. | |
Tolerance for inclusion of parameter in interval of definition. | |
Set tolerance for inclusion of parameter in interval of definition. | |
| void | tolerance (const double &tolerance) |
| double | tolerance () const |
| Get tolerance for inclusion of parameter in interval of definition. | |
Protected Member Functions | |
| void | impl_compute (result_ref, StableTimePoint) const |
| virtual void | impl_derivative (derivative_ref g, StableTimePoint, size_type order) const =0 |
| Trajectory (interval_t, size_type, const vector_t &, std::string name=std::string()) | |
| virtual void | normalizeAngles (size_type index, size_type offset) |
| Internal version of normalizeAngles allowing an optional offset. | |
Protected Attributes | |
| interval_t | timeRange_ |
| vector_t | parameters_ |
| size_type | singularPoints_ |
Abstract trajectory.
A trajectory is a piecewise smooth mapping 


![\[
\begin{array}{llll}
\Gamma: & [t_{min}, t_{max}] \times \textbf{R}^m & \rightarrow & \textbf{R}^n \\
& (t, \textbf{p}) & \rightarrow & \Gamma_{\textbf{p}}(t)
\end{array}
\]](form_25.png)
| DerivabilityOrder | derivability order |
| typedef parent_t::interval_t roboptim::trajectory::Trajectory< DerivabilityOrder >::interval_t |
Import interval type.
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virtual |
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protected |
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pure virtual |
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pure virtual |
Get right limit value of derivative at given singular point.
| rank | rank of the singular points. |
| order | order of derivation. |
| derivative | Limit of the derivative at singular point for decreasing parameter values. |
Implemented in roboptim::trajectory::BSpline< N >, roboptim::trajectory::CubicBSpline, roboptim::trajectory::FreeTimeTrajectory< T >, and roboptim::trajectory::VectorInterpolation.
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inline |
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inline |
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pure virtual |
Get left limit value of derivative at given singular point.
| rank | rank of the singular points. |
| order | order of derivation. |
Implemented in roboptim::trajectory::BSpline< N >, roboptim::trajectory::CubicBSpline, roboptim::trajectory::FreeTimeTrajectory< T >, and roboptim::trajectory::VectorInterpolation.
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protected |
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protectedpure virtual |
| bool roboptim::trajectory::Trajectory< dorder >::isValidTime | ( | value_type | t | ) | const |
| Trajectory< dorder >::value_type roboptim::trajectory::Trajectory< dorder >::length | ( | ) | const |
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virtual |
Normalize angles in parameters array.
Make sure angles are continuous.
| index | Angles index in parameter array. |
Reimplemented in roboptim::trajectory::FreeTimeTrajectory< T >.
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protectedvirtual |
Internal version of normalizeAngles allowing an optional offset.
Used to factorize code between trajectories and free time trajectories.
| index | Angles index in parameter array. |
| offset | Index of the first control point in the parameter vector. |
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inline |
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inline |
| const Trajectory< dorder >::vector_t & roboptim::trajectory::Trajectory< dorder >::parameters | ( | ) | const |
Referenced by roboptim::trajectory::BSpline< N >::BSpline(), roboptim::trajectory::CubicBSpline::CubicBSpline(), roboptim::trajectory::CubicBSpline::operator+(), roboptim::trajectory::CubicBSpline::operator+=(), roboptim::trajectory::visualization::matplotlib::plot_spline(), roboptim::trajectory::visualization::matplotlib::plot_spline(), and roboptim::trajectory::VectorInterpolation::VectorInterpolation().
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virtual |
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pure virtual |
Clone and resize a trajectory.
Implemented in roboptim::trajectory::BSpline< N >, roboptim::trajectory::ConstrainedBSpline< N >, roboptim::trajectory::CubicBSpline, and roboptim::trajectory::FreeTimeTrajectory< T >.
| roboptim::trajectory::Trajectory< DerivabilityOrder >::ROBOPTIM_NTIMES_DERIVABLE_FUNCTION_FWD_TYPEDEFS_ | ( | NTimesDerivableFunction< DerivabilityOrder > | ) |
Parent type and imports.
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virtual |
Set parameters.
| vector_t | parameters. |
| std::runtime_error |
Reimplemented in roboptim::trajectory::BSpline< N >, roboptim::trajectory::ConstrainedBSpline< N >, roboptim::trajectory::CubicBSpline, roboptim::trajectory::FreeTimeTrajectory< T >, and roboptim::trajectory::VectorInterpolation.
Referenced by roboptim::trajectory::VectorInterpolation::setParameters().
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pure virtual |
Get singular point at given rank.
Implemented in roboptim::trajectory::BSpline< N >, roboptim::trajectory::CubicBSpline, roboptim::trajectory::FreeTimeTrajectory< T >, and roboptim::trajectory::VectorInterpolation.
| Trajectory< dorder >::size_type roboptim::trajectory::Trajectory< dorder >::singularPoints | ( | ) | const |
Get number of singular points.
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virtual |
Get state along trajectory.
| t | value |
| order | the higher order |
![\[
\textbf{X}(t) = \left(\Gamma_{\textbf{p}}(t),
\frac{d\Gamma_{\textbf{p}}}{dt}(t),\cdots,
\frac{d^{r}\Gamma_{\textbf{p}}}{dt^{r}}(t)\right)
\]](form_26.png)
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virtual |
| Trajectory< dorder >::interval_t roboptim::trajectory::Trajectory< dorder >::timeRange | ( | ) | const |
Referenced by roboptim::trajectory::CubicBSpline::operator+(), roboptim::trajectory::CubicBSpline::operator+=(), roboptim::trajectory::visualization::gnuplot::plot_limitSpeed(), roboptim::trajectory::visualization::matplotlib::plot_spline(), roboptim::trajectory::visualization::matplotlib::plot_spline(), roboptim::trajectory::visualization::gnuplot::plot_xy(), roboptim::trajectory::FreeTimeTrajectory< T >::resize(), and roboptim::trajectory::detail::unscaleInterval().
| double roboptim::trajectory::Trajectory< dorder >::tolerance | ( | ) | const |
Get tolerance for inclusion of parameter in interval of definition.
| void roboptim::trajectory::Trajectory< dorder >::tolerance | ( | const double & | tolerance | ) |
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pure virtual |
Get the variation of a configuration with respect to parameter vector.
| t | value |
![\[\frac{\partial\Gamma_{\textbf{p}}(t)}{\partial\textbf{p}}\]](form_27.png)
Implemented in roboptim::trajectory::CubicBSpline, roboptim::trajectory::FreeTimeTrajectory< T >, and roboptim::trajectory::VectorInterpolation.
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pure virtual |
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pure virtual |
Get the variation of a derivative with respect to parameter vector.
| t | value |
| order | order |
![\[
\frac{\partial}{\partial\textbf{p}}
\left(\frac{d^r\Gamma_{\textbf{p}}}{dt^r}(t)\right)
\]](form_28.png)
Implemented in roboptim::trajectory::ConstrainedBSpline< N >, roboptim::trajectory::CubicBSpline, roboptim::trajectory::FreeTimeTrajectory< T >, and roboptim::trajectory::VectorInterpolation.
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pure virtual |
| Trajectory< dorder >::jacobian_t roboptim::trajectory::Trajectory< dorder >::variationStateWrtParam | ( | double | t, |
| size_type | order | ||
| ) | const |
Get the variation of the state with respect to parameter vector.
| t | value |
| order | order |
![\[
\left(\begin{array}{c}\frac{\partial}{\partial \lambda}
\Gamma_{\textbf{p}}(t) \\
\vdots \\
\frac{\partial}{\partial \lambda}\frac{d\Gamma_{\textbf{p}}^r}{dt^r}(t)
\end{array}\right)
\]](form_29.png)
| Trajectory< dorder >::jacobian_t roboptim::trajectory::Trajectory< dorder >::variationStateWrtParam | ( | StableTimePoint | stp, |
| size_type | order | ||
| ) | const |
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protected |
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protected |
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protected |