effector_spline_rotation.h File Reference

#include <Eigen/Geometry>
#include "ndcurves/curve_abc.h"
#include "ndcurves/helpers/effector_spline.h"

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Classes
class	ndcurves::helpers::rotation_spline
class	ndcurves::helpers::effector_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. More...

Namespaces
namespace	ndcurves
namespace	ndcurves::helpers

Typedefs
typedef Eigen::Matrix< Numeric, 4, 1 >	ndcurves::helpers::quat_t
typedef Eigen::Ref< quat_t >	ndcurves::helpers::quat_ref_t
typedef const Eigen::Ref< const quat_t >	ndcurves::helpers::quat_ref_const_t
typedef Eigen::Matrix< Numeric, 7, 1 >	ndcurves::helpers::config_t
typedef curve_abc< Time, Numeric, false, quat_t >	ndcurves::helpers::curve_abc_quat_t
typedef std::pair< Numeric, quat_t >	ndcurves::helpers::waypoint_quat_t
typedef std::vector< waypoint_quat_t >	ndcurves::helpers::t_waypoint_quat_t
typedef Eigen::Matrix< Numeric, 1, 1 >	ndcurves::helpers::point_one_dim_t
typedef exact_cubic< Numeric, Numeric, false, point_one_dim_t >	ndcurves::helpers::exact_cubic_constraint_one_dim
typedef std::pair< Numeric, point_one_dim_t >	ndcurves::helpers::waypoint_one_dim_t
typedef std::vector< waypoint_one_dim_t >	ndcurves::helpers::t_waypoint_one_dim_t
typedef exact_cubic< Time, Numeric, false, quat_t, std::vector< quat_t, Eigen::aligned_allocator< quat_t > >, rotation_spline >	ndcurves::helpers::exact_cubic_quat_t