1 #ifndef _STRUCT_SE3_CURVE_H 2 #define _STRUCT_SE3_CURVE_H 5 #include <boost/math/constants/constants.hpp> 23 template <
typename Time =
double,
typename Numeric = Time,
bool Safe = false>
24 struct SE3Curve :
public curve_abc<Time, Numeric, Safe,
25 Eigen::Transform<Numeric, 3, Eigen::Affine>,
26 Eigen::Matrix<Numeric, 6, 1> > {
28 typedef Eigen::Transform<Numeric, 3, Eigen::Affine>
transform_t;
75 pointX_t(init_transform.translation()),
76 pointX_t(end_transform.translation()), t_min, t_max)),
78 init_transform.rotation(), end_transform.rotation(), t_min, t_max)),
154 throw std::invalid_argument(
155 "The translation curve should be of dimension 3.");
158 throw std::invalid_argument(
159 "Min bounds of translation and rotation curve are not the same.");
162 throw std::invalid_argument(
163 "Max bounds of translation and rotation curve are not the same.");
174 throw std::invalid_argument(
175 "Translation curve should always be of dimension 3");
177 point_t res = point_t::Identity();
194 const Numeric prec = Eigen::NumTraits<Numeric>::dummy_precision())
const {
195 return ndcurves::isApprox<Numeric>(
T_min_, other.
min()) &&
196 ndcurves::isApprox<Numeric>(
T_max_, other.
max()) &&
206 const Numeric prec = Eigen::NumTraits<Numeric>::dummy_precision())
const {
219 return !(*
this == other);
228 const std::size_t order)
const {
230 throw std::invalid_argument(
231 "Translation curve should always be of dimension 3");
240 throw std::logic_error(
"Compute derivate for SE3 is not implemented yet.");
254 std::size_t
virtual dim()
const {
return dim_; };
280 template <
class Archive>
281 void serialize(Archive& ar,
const unsigned int version) {
285 ar& BOOST_SERIALIZATION_BASE_OBJECT_NVP(
curve_abc_t);
286 ar& boost::serialization::make_nvp(
"dim",
dim_);
289 ar& boost::serialization::make_nvp(
"T_min",
T_min_);
290 ar& boost::serialization::make_nvp(
"T_max",
T_max_);
297 throw std::invalid_argument(
"Tmin should be inferior to Tmax");
300 throw std::invalid_argument(
301 "Translation curve should always be of dimension 3");
310 DEFINE_CLASS_TEMPLATE_VERSION(
311 SINGLE_ARG(
typename Time,
typename Numeric,
bool Safe),
314 #endif // SE3_CURVE_H Definition: bernstein.h:20
Eigen::Transform< Numeric, 3, Eigen::Affine > transform_t
Definition: se3_curve.h:28
curve_abc< Time, Numeric, Safe, pointX_t > curve_X_t
Definition: se3_curve.h:37
const curve_ptr_t translation_curve() const
const accessor to the translation curve
Definition: se3_curve.h:265
std::size_t dim_
Definition: se3_curve.h:271
SE3Curve(const pointX_t &init_pos, const pointX_t &end_pos, const matrix3_t &init_rot, const matrix3_t &end_rot, const time_t &t_min, const time_t &t_max)
Constructor from init/end pose, with rotation matrix. use polynomial of degree 1 for position and SO3...
Definition: se3_curve.h:100
time_t max() const
Get the maximum time for which the curve is defined.
Definition: se3_curve.h:260
Numeric Scalar
Definition: se3_curve.h:27
transform_t point_t
Definition: se3_curve.h:29
Eigen::VectorXd pointX_t
Definition: fwd.h:69
time_t T_max_
Definition: se3_curve.h:274
virtual ~SE3Curve()
Destructor.
Definition: se3_curve.h:62
virtual std::size_t degree() const
Get the degree of the curve.
Definition: se3_curve.h:263
SE3Curve(const transform_t &init_transform, const transform_t &end_transform, const time_t &t_min, const time_t &t_max)
Constructor from init/end transform use polynomial of degree 1 for position and SO3Linear for rotatio...
Definition: se3_curve.h:70
time_t min() const
Get the minimum time for which the curve is defined.
Definition: se3_curve.h:257
SE3Curve(curve_ptr_t translation_curve, curve_rotation_ptr_t rotation_curve)
Constructor from from translation and rotation curves object.
Definition: se3_curve.h:146
virtual point_t operator()(const time_t t) const
Evaluation of the SE3Curve at time t.
Definition: se3_curve.h:172
Definition of a cubic spline.
interface for a Curve of arbitrary dimension.
SE3Curve< Time, Numeric, Safe > SE3Curve_t
Definition: se3_curve.h:46
virtual bool isApprox(const curve_abc_t *other, const Numeric prec=Eigen::NumTraits< Numeric >::dummy_precision()) const
isApprox check if other and *this are approximately equal given a precision treshold Only two curves ...
Definition: se3_curve.h:204
Eigen::Vector3d point3_t
Definition: fwd.h:63
virtual bool operator==(const SE3Curve_t &other) const
Definition: se3_curve.h:214
boost::shared_ptr< curve_rotation_t > curve_rotation_ptr_t
Definition: se3_curve.h:42
SO3Linear< Time, Numeric, Safe > SO3Linear_t
Definition: se3_curve.h:44
Eigen::Quaternion< Scalar > Quaternion
Definition: se3_curve.h:31
Represents a polynomial of an arbitrary order defined on the interval . It follows the equation : ...
Definition: fwd.h:42
SE3Curve(const pointX_t &init_pos, const pointX_t &end_pos, const Quaternion &init_rot, const Quaternion &end_rot, const time_t &t_min, const time_t &t_max)
Constructor from init/end pose, with quaternion. use polynomial of degree 1 for position and SO3Linea...
Definition: se3_curve.h:86
virtual bool operator!=(const SE3Curve_t &other) const
Definition: se3_curve.h:218
polynomial< Time, Numeric, Safe, pointX_t > polynomial_t
Definition: se3_curve.h:45
curve_derivate_t * compute_derivate_ptr(const std::size_t order) const
Compute the derived curve at order N.
Definition: se3_curve.h:247
curve_ptr_t translation_curve_
Definition: se3_curve.h:272
double Time
Definition: effector_spline.h:27
SE3Curve()
Empty constructor. Curve obtained this way can not perform other class functions. ...
Definition: se3_curve.h:53
curve_rotation_ptr_t rotation_curve_
Definition: se3_curve.h:273
void serialize(Archive &ar, const unsigned int version)
Definition: se3_curve.h:281
Eigen::Matrix< double, 3, 3 > matrix3_t
Definition: fwd.h:70
curve_abc< Time, Numeric, Safe, matrix3_t, point3_t > curve_rotation_t
Definition: se3_curve.h:39
bool isApprox(const SE3Curve_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 ...
Definition: se3_curve.h:192
Composition of a curve of any type of dimension 3 and a curve representing an rotation (in current im...
Definition: fwd.h:45
SE3Curve(curve_ptr_t translation_curve, const matrix3_t &init_rot, const matrix3_t &end_rot)
Constructor from curve for the translation and init/end rotation, with rotation matrix. Use SO3Linear for rotation with the same time bounds as the.
Definition: se3_curve.h:131
Eigen::Matrix< Scalar, 6, 1 > point_derivate_t
Definition: se3_curve.h:30
Time time_t
Definition: se3_curve.h:32
virtual point_derivate_t derivate(const time_t t, const std::size_t order) const
Evaluation of the derivative of order N of spline at time t.
Definition: se3_curve.h:227
time_t T_min_
Definition: se3_curve.h:274
double Numeric
Definition: effector_spline.h:26
curve_abc< Time, Numeric, Safe, point_t, point_derivate_t > curve_abc_t
Definition: se3_curve.h:34
Represents a linear interpolation in SO3, using the slerp method provided by Eigen::Quaternion.
Definition: fwd.h:51
virtual std::size_t dim() const
Get dimension of curve.
Definition: se3_curve.h:254
const curve_rotation_ptr_t rotation_curve() const
const accessor to the rotation curve
Definition: se3_curve.h:267
curve_derivate_t compute_derivate(const std::size_t) const
Definition: se3_curve.h:239
boost::shared_ptr< curve_X_t > curve_ptr_t
Definition: se3_curve.h:41
polynomial< Time, Numeric, Safe, point_derivate_t > curve_derivate_t
Definition: se3_curve.h:35
SE3Curve(curve_ptr_t translation_curve, const Quaternion &init_rot, const Quaternion &end_rot)
Constructor from curve for the translation and init/end rotation, with quaternion. Use SO3Linear for rotation with the same time bounds as the.
Definition: se3_curve.h:116
Represents a curve of dimension Dim. If value of parameter Safe is false, no verification is made on ...
Definition: curve_abc.h:37
friend class boost::serialization::access
Definition: se3_curve.h:278