12 #include <Eigen/Dense> 13 #include <boost/smart_ptr/shared_ptr.hpp> 19 typename Point_derivate>
22 template <
typename Time,
typename Numeric,
bool Safe,
typename Po
int>
26 typename Point_derivate>
27 struct constant_curve;
29 template <
typename Time,
typename Numeric,
bool Safe,
typename Po
int>
30 struct cubic_hermite_spline;
33 typename T_Point,
typename SplineBase>
37 typename Point_derivate,
typename CurveType>
44 template <
typename Time,
typename Numeric,
bool Safe>
47 template <
typename Time,
typename Numeric,
bool Safe,
typename Po
int>
50 template <
typename Time,
typename Numeric,
bool Safe>
53 template <
typename Numeric>
56 template <
typename Po
int>
59 template <
typename Numeric,
bool Safe>
62 template <
typename Numeric>
73 typedef Eigen::Transform<double, 3, Eigen::Affine>
transform_t;
74 typedef std::vector<point3_t, Eigen::aligned_allocator<point3_t> >
t_point3_t;
75 typedef std::vector<pointX_t, Eigen::aligned_allocator<pointX_t> >
t_pointX_t;
130 #endif // CURVES_FWD_H Definition: bernstein.h:20
sinusoidal< double, double, true, pointX_t > sinusoidal_t
Definition: fwd.h:108
Eigen::Quaternion< double > quaternion_t
Definition: fwd.h:72
Eigen::VectorXd pointX_t
Definition: fwd.h:69
exact_cubic< double, double, true, point3_t, t_point3_t, polynomial_t > exact_cubic3_t
Definition: fwd.h:113
Definition: cubic_hermite_spline.h:34
Definition: exact_cubic.h:41
curve_abc< double, double, true, point3_t, point3_t > curve_3_t
Definition: fwd.h:81
boost::shared_ptr< curve_3_t > curve3_ptr_t
Definition: fwd.h:91
std::vector< point3_t, Eigen::aligned_allocator< point3_t > > t_point3_t
Definition: fwd.h:74
bezier_curve< double, double, true, pointX_t > bezier_t
Definition: fwd.h:99
constant_curve< double, double, true, point3_t, point3_t > constant3_t
Definition: fwd.h:115
std::vector< pointX_t, Eigen::aligned_allocator< pointX_t > > t_pointX_t
Definition: fwd.h:75
boost::shared_ptr< curve_abc_t > curve_ptr_t
Definition: fwd.h:90
Eigen::Vector3d point3_t
Definition: fwd.h:63
curve_abc< double, double, true, pointX_t, pointX_t > curve_abc_t
Definition: fwd.h:79
bezier_curve< double, double, true, linear_variable_t > bezier_linear_variable_t
Definition: fwd.h:102
bezier_curve< double, double, true, point3_t > bezier3_t
Definition: fwd.h:114
Eigen::Matrix< double, 6, 1 > point6_t
Definition: fwd.h:68
cubic_hermite_spline< double, double, true, point3_t > cubic_hermite_spline3_t
Definition: fwd.h:117
Eigen::Transform< double, 3, Eigen::Affine > transform_t
Definition: fwd.h:73
polynomial< double, double, true, point3_t, t_point3_t > polynomial3_t
Definition: fwd.h:111
std::vector< Point, Eigen::aligned_allocator< Point > > T_Point
Definition: effector_spline.h:29
Represents a polynomial of an arbitrary order defined on the interval . It follows the equation : ...
Definition: fwd.h:42
SO3Linear< double, double, true > SO3Linear_t
Definition: fwd.h:122
double Time
Definition: effector_spline.h:27
constant_curve< double, double, true, pointX_t, pointX_t > constant_t
Definition: fwd.h:103
Eigen::Matrix< double, 3, 3 > matrix3_t
Definition: fwd.h:70
piecewise_curve< double, double, true, pointX_t, pointX_t, curve_abc_t > piecewise_t
Definition: fwd.h:107
linear_variable< double, true > linear_variable_t
Definition: fwd.h:100
piecewise_curve< double, double, true, point3_t, point3_t, curve_3_t > piecewise3_t
Definition: fwd.h:119
Eigen::Matrix< Numeric, Eigen::Dynamic, 1 > Point
Definition: effector_spline.h:28
Definition: bezier_curve.h:31
exact_cubic< double, double, true, pointX_t, t_pointX_t, polynomial_t > exact_cubic_t
Definition: fwd.h:98
Composition of a curve of any type of dimension 3 and a curve representing an rotation (in current im...
Definition: fwd.h:45
polynomial< double, double, true, pointX_t, t_pointX_t > polynomial_t
Definition: fwd.h:96
Represents a sinusoidal curve, evaluating the following equation: p0 + amplitude * (sin(2pi/T + phi) ...
Definition: fwd.h:48
boost::shared_ptr< curve_rotation_t > curve_rotation_ptr_t
Definition: fwd.h:92
double Numeric
Definition: effector_spline.h:26
curve_abc< double, double, true, transform_t, point6_t > curve_SE3_t
Definition: fwd.h:86
Represents a linear interpolation in SO3, using the slerp method provided by Eigen::Quaternion.
Definition: fwd.h:51
Definition: curve_constraint.h:20
Eigen::Matrix< double, 4, 4 > matrix4_t
Definition: fwd.h:71
boost::shared_ptr< curve_SE3_t > curve_SE3_ptr_t
Definition: fwd.h:93
curve_abc< double, double, true, matrix3_t, point3_t > curve_rotation_t
Definition: fwd.h:83
piecewise_curve< double, double, true, transform_t, point6_t, curve_SE3_t > piecewise_SE3_t
Definition: fwd.h:126
Represents a curve of dimension Dim. If value of parameter Safe is false, no verification is made on ...
Definition: curve_abc.h:37
SE3Curve< double, double, true > SE3Curve_t
Definition: fwd.h:123
cubic_hermite_spline< double, double, true, pointX_t > cubic_hermite_spline_t
Definition: fwd.h:105
Represents a constant_curve curve, always returning the same value and a null derivative.
Definition: constant_curve.h:22