typedef Point point_t
typedef std::pair< Point, Point > pair_point_tangent_t
typedef std::vector< pair_point_tangent_t , Eigen::aligned_allocator< pair_point_tangent_t > > t_pair_point_tangent_t
typedef std::vector< Time > vector_time_t
typedef Time time_t
typedef Numeric num_t
typedef curve_abc < Time, Numeric, Safe, point_t > curve_abc_t
typedef cubic_hermite_spline < Time, Numeric, Safe, point_t > cubic_hermite_spline_t
typedef bezier_curve < Time, Numeric, Safe, point_t > bezier_t
typedef bezier_t::t_point_t t_point_t
typedef piecewise_curve < Time, Numeric, Safe, point_t , point_t , bezier_t > piecewise_bezier_t
typedef Point point_t
typedef Point_derivate point_derivate_t
typedef Time time_t
typedef Numeric num_t
typedef curve_abc < Time, Numeric, Safe, point_t , point_derivate_t > curve_t
typedef curve_abc < Time, Numeric, Safe, point_derivate_t > curve_derivate_t
typedef boost::shared_ptr< curve_t > curve_ptr_t
cubic_hermite_spline ()
Empty constructor. Curve obtained this way can not perform other class functions. More...
template<typename In >
cubic_hermite_spline (In PairsBegin, In PairsEnd, const vector_time_t &time_control_points)
Constructor. More...
cubic_hermite_spline (const cubic_hermite_spline &other)
virtual ~cubic_hermite_spline ()
Destructor. More...
virtual Point operator() (const time_t t) const
Evaluation of the cubic hermite spline at time t. More...
bool isApprox (const cubic_hermite_spline_t &other, const Numeric prec=Eigen::NumTraits< Numeric >::dummy_precision()) const
isApprox check if other and *this are approximately equals. Only two curves of the same class can be approximately equals, for comparison between different type of curves see isEquivalent More...
virtual bool isApprox (const curve_abc_t *other, const Numeric prec=Eigen::NumTraits< Numeric >::dummy_precision()) const
virtual bool operator== (const cubic_hermite_spline_t &other) const
virtual bool operator!= (const cubic_hermite_spline_t &other) const
virtual Point derivate (const time_t t, const std::size_t order) const
Evaluate the derivative of order N of spline at time t. More...
piecewise_bezier_t compute_derivate (const std::size_t order) const
piecewise_bezier_t * compute_derivate_ptr (const std::size_t order) const
Compute the derived curve at order N. More...
void setTime (const vector_time_t &time_control_points)
Set time of each control point of cubic hermite spline. Set duration of each spline, Exemple : with values corresponding to times for respectively.
More...
t_pair_point_tangent_t getControlPoints ()
Get vector of pair (positition, derivative) corresponding to control points. More...
vector_time_t getTime ()
Get vector of Time corresponding to Time for each control point. More...
std::size_t size () const
Get number of control points contained in the trajectory. More...
std::size_t numIntervals () const
Get number of intervals (subsplines) contained in the trajectory. More...
virtual std::size_t dim () const
Get dimension of curve. More...
virtual Time min () const
Get the minimum time for which the curve is defined. More...
virtual Time max () const
Get the maximum time for which the curve is defined. More...
virtual std::size_t degree () const
Get the degree of the curve. More...
template<class Archive >
void serialize (Archive &ar, const unsigned int version)
curve_abc ()
Constructor. More...
virtual ~curve_abc ()
Destructor. More...
virtual point_t operator() (const time_t t) const =0
Evaluation of the cubic spline at time t. More...
virtual curve_derivate_t * compute_derivate_ptr (const std::size_t order) const =0
Compute the derived curve at order N. More...
virtual point_derivate_t derivate (const time_t t, const std::size_t order) const =0
Evaluate the derivative of order N of curve at time t. More...
bool isEquivalent (const curve_t *other, const Numeric prec=Eigen::NumTraits< Numeric >::dummy_precision(), const size_t order=5) const
isEquivalent check if other and *this are approximately equal by values, given a precision treshold. This test is done by discretizing both curves and evaluating them and their derivatives. More...
virtual bool isApprox (const curve_t *other, const Numeric prec=Eigen::NumTraits< Numeric >::dummy_precision()) const =0
isApprox check if other and *this are approximately equal given a precision treshold Only two curves of the same class can be approximately equal, for comparison between different type of curves see isEquivalent. More...
virtual std::size_t dim () const =0
Get dimension of curve. More...
virtual time_t min () const =0
Get the minimum time for which the curve is defined. More...
virtual time_t max () const =0
Get the maximum time for which the curve is defined. More...
virtual std::size_t degree () const =0
Get the degree of the curve. More...
std::pair< time_t , time_t > timeRange ()
template<class Archive >
void serialize (Archive &ar, const unsigned int version)
template<class Derived >
void loadFromText (const std::string &filename)
Loads a Derived object from a text file. More...
template<class Derived >
void saveAsText (const std::string &filename) const
Saved a Derived object as a text file. More...
template<class Derived >
void loadFromXML (const std::string &filename, const std::string &tag_name)
Loads a Derived object from an XML file. More...
template<class Derived >
void saveAsXML (const std::string &filename, const std::string &tag_name) const
Saved a Derived object as an XML file. More...
template<class Derived >
void loadFromBinary (const std::string &filename)
Loads a Derived object from an binary file. More...
template<class Derived >
void saveAsBinary (const std::string &filename) const
Saved a Derived object as an binary file. More...