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typedef Point | point_t |
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typedef std::pair< Point, Point > | pair_point_tangent_t |
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typedef std::vector< pair_point_tangent_t, Eigen::aligned_allocator< Point > > | t_pair_point_tangent_t |
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typedef std::vector< Time > | vector_time_t |
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typedef Time | time_t |
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typedef Numeric | num_t |
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typedef curve_abc< Time, Numeric, Safe, point_t > | curve_abc_t |
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typedef cubic_hermite_spline< Time, Numeric, Safe, point_t > | cubic_hermite_spline_t |
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typedef bezier_curve< Time, Numeric, Safe, point_t > | bezier_t |
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typedef bezier_t::t_point_t | t_point_t |
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typedef piecewise_curve< Time, Numeric, Safe, point_t, point_t, bezier_t > | piecewise_bezier_t |
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typedef Point | point_t |
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typedef Point | point_derivate_t |
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typedef Time | time_t |
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typedef Numeric | num_t |
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typedef curve_abc< Time, Numeric, Safe, point_t, point_derivate_t > | curve_t |
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typedef curve_abc< Time, Numeric, Safe, point_derivate_t > | curve_derivate_t |
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typedef boost::shared_ptr< curve_t > | curve_ptr_t |
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| cubic_hermite_spline () |
| Empty constructor. Curve obtained this way can not perform other class functions. More...
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template<typename In > |
| cubic_hermite_spline (In PairsBegin, In PairsEnd, const vector_time_t &time_control_points) |
| Constructor. More...
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| cubic_hermite_spline (const cubic_hermite_spline &other) |
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virtual | ~cubic_hermite_spline () |
| Destructor. More...
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virtual Point | operator() (const time_t t) const |
| Evaluation of the cubic hermite spline at time t. More...
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bool | isApprox (const cubic_hermite_spline_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 approximately equals, for comparison between different type of curves see isEquivalent More...
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virtual bool | isApprox (const curve_abc_t *other, const Numeric prec=Eigen::NumTraits< Numeric >::dummy_precision()) const |
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virtual bool | operator== (const cubic_hermite_spline_t &other) const |
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virtual bool | operator!= (const cubic_hermite_spline_t &other) const |
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virtual Point | derivate (const time_t t, const std::size_t order) const |
| Evaluate the derivative of order N of spline at time t. More...
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piecewise_bezier_t | compute_derivate (const std::size_t order) const |
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piecewise_bezier_t * | compute_derivate_ptr (const std::size_t order) const |
| Compute the derived curve at order N. More...
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void | setTime (const vector_time_t &time_control_points) |
| Set time of each control point of cubic hermite spline. Set duration of each spline, Exemple : with values corresponding to times for respectively.
More...
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t_pair_point_tangent_t | getControlPoints () |
| Get vector of pair (positition, derivative) corresponding to control points. More...
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vector_time_t | getTime () |
| Get vector of Time corresponding to Time for each control point. More...
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std::size_t | size () const |
| Get number of control points contained in the trajectory. More...
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std::size_t | numIntervals () const |
| Get number of intervals (subsplines) contained in the trajectory. More...
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virtual std::size_t | dim () const |
| Get dimension of curve. More...
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virtual Time | min () const |
| Get the minimum time for which the curve is defined. More...
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virtual Time | max () const |
| Get the maximum time for which the curve is defined. More...
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virtual std::size_t | degree () const |
| Get the degree of the curve. More...
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template<class Archive > |
void | serialize (Archive &ar, const unsigned int version) |
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| curve_abc () |
| Constructor. More...
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virtual | ~curve_abc () |
| Destructor. More...
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bool | isEquivalent (const curve_t *other, const Numeric prec=Eigen::NumTraits< Numeric >::dummy_precision(), const size_t order=5) const |
| isEquivalent check if other and *this are approximately equal by values, given a precision treshold. This test is done by discretizing both curves and evaluating them and their derivatives. More...
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virtual bool | isApprox (const curve_t *other, const Numeric prec=Eigen::NumTraits< Numeric >::dummy_precision()) const=0 |
| isApprox check if other and *this are approximately equal given a precision treshold Only two curves of the same class can be approximately equal, for comparison between different type of curves see isEquivalent. More...
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std::pair< time_t, time_t > | timeRange () |
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void | serialize (Archive &ar, const unsigned int version) |
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template<class Derived > |
void | loadFromText (const std::string &filename) |
| Loads a Derived object from a text file. More...
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template<class Derived > |
void | saveAsText (const std::string &filename) const |
| Saved a Derived object as a text file. More...
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template<class Derived > |
void | loadFromXML (const std::string &filename, const std::string &tag_name) |
| Loads a Derived object from an XML file. More...
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template<class Derived > |
void | saveAsXML (const std::string &filename, const std::string &tag_name) const |
| Saved a Derived object as an XML file. More...
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template<class Derived > |
void | loadFromBinary (const std::string &filename) |
| Loads a Derived object from an binary file. More...
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template<class Derived > |
void | saveAsBinary (const std::string &filename) const |
| Saved a Derived object as an binary file. More...
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template<typename Time = double, typename Numeric = Time, bool Safe = false, typename Point = Eigen::Matrix<Numeric, Eigen::Dynamic, 1>>
Evaluate the derivative of order N of spline at time t.
- Parameters
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t | : time when to evaluate the spline. |
order | : order of derivative. |
- Returns
point corresponding on derivative spline of order N at time t.
Implements ndcurves::curve_abc< Time, Numeric, Safe, Point >.
template<typename Time = double, typename Numeric = Time, bool Safe = false, typename Point = Eigen::Matrix<Numeric, Eigen::Dynamic, 1>>
Vector of Time corresponding to time duration of each subspline.
For N control points with time
respectively, duration of each subspline is : ( T_{P_1}-T_{P_0}, T_{P_2}-T_{P_1}, ..., T_{P_N}-T_{P_{N-1} )
It contains
durations.