6#ifndef BEZIER_COM_TRAJ_WP_DEF_H
7#define BEZIER_COM_TRAJ_WP_DEF_H
25 const std::vector<point_t>& pi,
double t);
35 const std::vector<point_t>& pi,
double T,
46 const std::vector<point_t>& pi,
57 const std::vector<point_t>& pi,
double T,
89 std::vector<bezier_t::point_t> pi = std::vector<bezier_t::point_t>());
100 std::vector<bezier_t::point_t> pi = std::vector<bezier_t::point_t>());
111 std::vector<bezier_t::point_t> pi = std::vector<bezier_t::point_t>());
114 const std::vector<point_t>& pi,
118 const std::vector<point_t>& pi,
121 const ProblemData& pData,
const double T,
const std::vector<point_t>& pi,
125 const std::vector<point_t>& pi,
143 std::vector<bezier_t::point_t> pi = std::vector<bezier_t::point_t>());
Definition: common_solve_methods.hh:15
bezier_wp_t::t_point_t computeConstantWaypointsSymbolic(const ProblemData &pData, double T)
computeConstantWaypointsSymbolic compute the constant waypoints of c(t) defined by the constraints on...
Definition: waypoints_definition.cpp:297
coefs_t evaluateAccelerationCurveAtTime(const ProblemData &pData, const std::vector< point_t > &pi, double T, double t)
evaluateAccelerationCurveAtTime compute the expression of the point on the curve ddc at t,...
Definition: waypoints_definition.cpp:103
std::vector< waypoint_t > computeAccelerationWaypoints(const ProblemData &pData, const double T, std::vector< bezier_t::point_t > pi=std::vector< bezier_t::point_t >())
computeWwaypoints compute the constant waypoints of ddc(t) defined by the constraints on initial and ...
Definition: waypoints_definition.cpp:365
coefs_t computeFinalVelocityPoint(const ProblemData &pData, double T)
Definition: waypoints_definition.cpp:450
waypoint_t evaluateAccelerationCurveWaypointAtTime(const ProblemData &pData, const double T, const std::vector< point_t > &pi, double t)
evaluateCurveAtTime compute the expression of the point on the curve c at t, defined by the waypoint ...
Definition: waypoints_definition.cpp:211
waypoint_t evaluateCurveWaypointAtTime(const ProblemData &pData, const std::vector< point_t > &pi, double t)
evaluateCurveAtTime compute the expression of the point on the curve c at t, defined by the waypoint ...
Definition: waypoints_definition.cpp:138
std::pair< double, point3_t > coefs_t
Definition: definitions.hh:62
coefs_t evaluateVelocityCurveAtTime(const ProblemData &pData, const std::vector< point_t > &pi, double T, double t)
evaluateVelocityCurveAtTime compute the expression of the point on the curve dc at t,...
std::pair< MatrixXX, VectorX > computeVelocityCost(const ProblemData &pData, double T, std::vector< bezier_t::point_t > pi=std::vector< bezier_t::point_t >())
computeVelocityCost the matrices H and g defining a cost that minimise the integral of the squared ve...
Definition: waypoints_definition.cpp:479
waypoint_t evaluateJerkCurveWaypointAtTime(const ProblemData &pData, const double T, const std::vector< point_t > &pi, double t)
evaluateCurveAtTime compute the expression of the point on the curve c at t, defined by the waypoint ...
Definition: waypoints_definition.cpp:246
bezier_wp_t::t_point_t computeWwaypoints(const ProblemData &pData, double T)
computeConstantWaypoints compute the constant waypoints of w(t) defined by the constraints on initial...
Definition: waypoints_definition.cpp:427
coefs_t evaluateCurveAtTime(const ProblemData &pData, const std::vector< point_t > &pi, double t)
evaluateCurveAtTime compute the expression of the point on the curve c at t, defined by the waypoint ...
Definition: waypoints_definition.cpp:67
coefs_t evaluateJerkCurveAtTime(const ProblemData &pData, const std::vector< point_t > &pi, double T, double t)
evaluateAccelerationCurveAtTime compute the expression of the point on the curve ddc at t,...
waypoint_t evaluateVelocityCurveWaypointAtTime(const ProblemData &pData, const double T, const std::vector< point_t > &pi, double t)
evaluateCurveAtTime compute the expression of the point on the curve c at t, defined by the waypoint ...
Definition: waypoints_definition.cpp:173
int dimVar(const ProblemData &pData)
Definition: waypoints_definition.cpp:30
std::vector< waypoint_t > computeVelocityWaypoints(const ProblemData &pData, const double T, std::vector< bezier_t::point_t > pi=std::vector< bezier_t::point_t >())
computeWwaypoints compute the constant waypoints of dc(t) defined by the constraints on initial and f...
Definition: waypoints_definition.cpp:335
std::vector< waypoint_t > computeJerkWaypoints(const ProblemData &pData, const double T, std::vector< bezier_t::point_t > pi=std::vector< bezier_t::point_t >())
computeWwaypoints compute the constant waypoints of dddc(t) defined by the constraints on initial and...
Definition: waypoints_definition.cpp:395
std::vector< point_t > computeConstantWaypoints(const ProblemData &pData, double T)
computeConstantWaypoints compute the constant waypoints of c(t) defined by the constraints on initial...
Definition: waypoints_definition.cpp:286
Defines all the inputs of the problem: Initial and terminal constraints, as well as selected cost fun...
Definition: data.hh:92