▼Nboost | |
Nserialization | |
▼Nndcurves | |
▼Nhelpers | |
Ceffector_spline_rotation | Represents a trajectory for and end effector. uses the method effector_spline to create a spline trajectory. Additionally, handles the rotation of the effector as follows: does not rotate during the take off and landing phase, then uses a SLERP algorithm to interpolate the rotation in the quaternion space |
Crotation_spline | |
▼Noptimization | |
Cproblem_data | |
Cproblem_definition | |
Cquadratic_problem | |
▼Nserialization | |
CSerializable | |
CBern | |
Cbezier_curve | |
Cconstant_curve | Represents a constant_curve curve, always returning the same value and a null derivative |
Ccubic_hermite_spline | |
Ccurve_abc | Represents a curve of dimension Dim. If value of parameter Safe is false, no verification is made on the evaluation of the curve |
Ccurve_constraints | |
Cexact_cubic | |
Clinear_variable | |
Cpiecewise_curve | |
Cpolynomial | Represents a polynomial of an arbitrary order defined on the interval ![]() ![]() where N is the order and ![]() |
Cquadratic_variable | |
CSE3Curve | Composition of a curve of any type of dimension 3 and a curve representing an rotation (in current implementation, only SO3Linear can be used for the rotation part) The output is a vector of size 7 (pos_x,pos_y,pos_z,quat_x,quat_y,quat_z,quat_w) The output of the derivative of any order is a vector of size 6 (linear_x,linear_y,linear_z,angular_x,angular_y,angular_z) |
Csinusoidal | Represents a sinusoidal curve, evaluating the following equation: p0 + amplitude * (sin(2pi/T + phi) |
CSO3Linear | Represents a linear interpolation in SO3, using the slerp method provided by Eigen::Quaternion |