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| ROBOPTIM_NTIMES_DERIVABLE_FUNCTION_FWD_TYPEDEFS_ (Trajectory< T::derivabilityOrder >) |
| Parent type and imports. More...
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| FreeTimeTrajectory (const fixedTimeTrajectory_t &traj, value_type s) |
| Constructor with fixed definition interval trajectory. More...
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| FreeTimeTrajectory (const self_t &traj) |
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virtual | ~FreeTimeTrajectory () |
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virtual jacobian_t | variationConfigWrtParam (double t) const |
| Get the variation of a configuration with respect to parameter vector. More...
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virtual jacobian_t | variationDerivWrtParam (double t, size_type order) const |
| Get the variation of a derivative with respect to parameter vector. More...
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virtual value_type | singularPointAtRank (size_type rank) const |
| Get singular point at given rank. More...
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virtual vector_t | derivBeforeSingularPoint (size_type rank, size_type order) const |
| Get left limit value of derivative at given singular point. More...
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virtual vector_t | derivAfterSingularPoint (size_type rank, size_type order) const |
| Get right limit value of derivative at given singular point. More...
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virtual void | setParameters (const vector_t &) |
| Set parameters. More...
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value_type | timeScale () const |
| Get time scale factor. More...
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size_type | getTimeScalingIndex () const |
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virtual std::ostream & | print (std::ostream &o) const |
| Display the function on the specified output stream. More...
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virtual void | normalizeAngles (size_type index) |
| Normalize angles in parameters array. More...
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const fixedTimeTrajectory_t & | getFixedTimeTrajectory () const |
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self_t * | resize (interval_t) const |
| Clone and resize a trajectory. More...
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fixedTimeTrajectory_t * | makeFixedTimeTrajectory () const |
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double | scaleTime (double t) const |
| Scale input time argument. More...
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double | unscaleTime (double t) const |
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jacobian_t | variationConfigWrtParam (StableTimePoint tp) const |
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jacobian_t | variationDerivWrtParam (StableTimePoint tp, size_type order) const |
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| ROBOPTIM_NTIMES_DERIVABLE_FUNCTION_FWD_TYPEDEFS_ (NTimesDerivableFunction< DerivabilityOrder >) |
| Parent type and imports. More...
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virtual | ~Trajectory () |
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virtual jacobian_t | variationConfigWrtParam (StableTimePoint tp) const=0 |
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virtual jacobian_t | variationDerivWrtParam (StableTimePoint tp, size_type order) const=0 |
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result_t | operator() (StableTimePoint argument) const |
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void | operator() (result_ref result, StableTimePoint argument) const |
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derivative_t | derivative (StableTimePoint argument, size_type order=1) const |
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void | derivative (derivative_ref derivative, StableTimePoint argument, size_type order=1) const |
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bool | isValidTime (value_type t) const |
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virtual void | normalizeAngles (size_type index) |
| Normalize angles in parameters array. More...
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virtual Trajectory< DerivabilityOrder > * | clone () const=0 |
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virtual Trajectory< DerivabilityOrder > * | resize (interval_t timeRange) const=0 |
| Clone and resize a trajectory. More...
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virtual std::ostream & | print (std::ostream &) const |
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const vector_t & | parameters () const |
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interval_t | timeRange () const |
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value_type | length () const |
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virtual vector_t | state (double t, size_type order) const |
| Get state along trajectory. More...
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virtual vector_t | state (StableTimePoint t, size_type order) const |
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jacobian_t | variationStateWrtParam (double t, size_type order) const |
| Get the variation of the state with respect to parameter vector. More...
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jacobian_t | variationStateWrtParam (StableTimePoint stp, size_type order) const |
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size_type | singularPoints () const |
| Get number of singular points. More...
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void | tolerance (const double &tolerance) |
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double | tolerance () const |
| Get tolerance for inclusion of parameter in interval of definition. More...
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void | impl_compute (result_ref, double) const |
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void | impl_derivative (derivative_ref g, double x, size_type order) const |
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void | impl_derivative (derivative_ref g, StableTimePoint, size_type order) const |
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virtual void | normalizeAngles (size_type index, size_type offset) |
| Internal version of normalizeAngles allowing an optional offset. More...
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void | impl_compute (result_ref, StableTimePoint) const |
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virtual void | impl_derivative (derivative_ref g, StableTimePoint, size_type order) const=0 |
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| Trajectory (interval_t, size_type, const vector_t &, std::string name=std::string()) |
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template<typename T>
class roboptim::trajectory::FreeTimeTrajectory< T >
Decorate a trajectory to make time scalable.
Build a trajectory from an input trajectory and a time scale factor.
- Examples
- spline-time-optimization.cc.