Approximate the length of a Spline. More...
#include <roboptim/trajectory/spline-length.hh>


Public Member Functions | |
| SplineLength (const CubicBSpline &spline, const size_type nDiscretizationPoints=100, boost::optional< interval_t > interval=boost::none) | |
| Construct the function from a Spline and a definition interval. | |
| virtual | ~SplineLength () |
Public Member Functions inherited from roboptim::trajectory::TrajectoryCost< CubicBSpline > | |
| TrajectoryCost (const trajectory_t &traj, std::string name=std::string()) | |
| Concret class should call this constructor. | |
| virtual | ~TrajectoryCost () |
Protected Member Functions | |
| void | impl_compute (result_ref, const_argument_ref) const |
| void | impl_gradient (gradient_ref, const_argument_ref, size_type) const |
Additional Inherited Members | |
Public Types inherited from roboptim::trajectory::TrajectoryCost< CubicBSpline > | |
| typedef CubicBSpline | trajectory_t |
| Trajectory type. | |
Protected Attributes inherited from roboptim::trajectory::TrajectoryCost< CubicBSpline > | |
| const trajectory_t & | trajectory_ |
| Input trajectory. | |
Approximate the length of a Spline.
The length is computed using:
![\[\frac{1}{2} \int_{t_{min}}^{t_{max}} ||\ddot{\Gamma_p(t)}||^2 dt\]](form_11.png)

