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enum | {
PolynomeBasis = _PolynomeBasis,
Order = _Order,
NbCoeffs = _Order + 1,
NbPowerOfT = 2 * NbCoeffs + 1
} |
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typedef internal::sbf_traits< PolynomeBasis, Order > | sbf_traits |
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typedef internal::spline_basis_function< PolynomeBasis, Order > | BasisFunction_t |
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typedef Eigen::Matrix< value_type, NbPowerOfT, 1 > | PowersOfT_t |
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typedef sbf_traits::Coeffs_t | BasisFunctionVector_t |
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typedef sbf_traits::IntegralCoeffs_t | BasisFunctionIntegralMatrix_t |
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typedef Eigen::Matrix< value_type, NbCoeffs, Eigen::Dynamic, Eigen::RowMajor > | ParameterMatrix_t |
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typedef Eigen::Map< const vector_t, Eigen::Aligned > | ConstParameterVector_t |
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typedef Eigen::Map< vector_t, Eigen::Aligned > | ParameterVector_t |
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typedef boost::shared_ptr< Spline > | Ptr_t |
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typedef boost::weak_ptr< Spline > | WkPtr_t |
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size_type | parameterSize () const |
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void | parameterDerivativeCoefficients (vectorOut_t res, const value_type &t) const |
| The partial derivative with respects to the parameters is of the form
\begin{eqnarray*} \frac{\partial S}{\partial p_{k}} (q, p, t) &=& B_k(t) \times I \\ \frac{\partial S}{\partial q_{base}} (q, p, t) &=& I \end{eqnarray*}
This method returns the coefficients \( (B_k(t))_{k} \). More...
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void | parameterIntegrate (vectorIn_t dParam) |
| Adds dParam to the parameters. More...
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value_type | squaredNormIntegral (const size_type order) const |
| Returns \( \int S^{(k)}(t)^T \times S^{(k)}(t) dt \). More...
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void | squaredNormIntegralDerivative (const size_type order, vectorOut_t res) const |
| Returns the derivative of squaredNormIntegral wrt the parameters. More...
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void | basisFunctionDerivative (const size_type order, const value_type &u, BasisFunctionVector_t &res) const |
| Returns a vector \( (v_i) \) as
\[ v_i = T^{-k} b_i^{(k)}(\frac{t - t_0}{T}) \]
. More...
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void | basisFunctionDerivative (const size_type order, const value_type &u, vectorOut_t res) const |
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void | maxVelocity (vectorOut_t res) const |
| Returns an upper bound of the velocity on the complete interval. More...
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void | squaredNormBasisFunctionIntegral (const size_type order, BasisFunctionIntegralMatrix_t &res) const |
| Returns a matrix \( (m_{i,j}) \) as
\[ m_{i,j} = T^{1-2k} \int_0^1 b_i^{(k)}(u) b_j^{(k)}(u) du \]
. More...
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void | squaredNormBasisFunctionIntegral (const size_type order, matrixOut_t res) const |
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virtual Configuration_t | initial () const |
| Get the initial configuration. More...
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virtual Configuration_t | end () const |
| Get the final configuration. More...
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const Configuration_t & | base () const |
| Get the base configuration. More...
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void | base (const Configuration_t &q) |
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const ParameterMatrix_t & | parameters () const |
| Each row corresponds to a velocity of the robot. More...
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void | parameters (const ParameterMatrix_t &m) |
| Returns the \( (P_i^T) \). More...
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ConstParameterVector_t | rowParameters () const |
| Concatenate the parameters as one vector (P_0^T, ..., P_n^T). More...
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void | rowParameters (vectorIn_t p) |
| Set the parameters. More...
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PathPtr_t | copy () const |
| Return a shared pointer to a copy of this. More...
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PathPtr_t | copy (const ConstraintSetPtr_t &constraints) const |
| Return a shared pointer to a copy of this and set constraints. More...
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virtual | ~Spline () throw () |
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virtual | ~Path () throw () |
| Destructor. More...
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template<class T > |
boost::shared_ptr< T > | as (void) |
| Static cast into a derived type. More...
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template<class T > |
boost::shared_ptr< const T > | as (void) const |
| Static cast into a derived type. More...
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PathPtr_t | extract (const interval_t &subInterval) const throw (projection_error) |
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virtual PathPtr_t | reverse () const |
| Reversion of a path. More...
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Configuration_t | operator() (const value_type &time) const HPP_CORE_DEPRECATED |
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Configuration_t | operator() (const value_type &time, bool &success) const |
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bool | operator() (ConfigurationOut_t result, const value_type &time) const throw () |
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bool | at (const value_type &time, ConfigurationOut_t result) const |
| Get the configuration at a parameter without applying the constraints. More...
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void | derivative (vectorOut_t result, const value_type &time, size_type order) const |
| Get derivative with respect to parameter at given parameter. More...
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void | velocityBound (vectorOut_t result, const value_type &t0, const value_type &t1) const |
| Get an upper bound of the velocity on a sub-interval. More...
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size_type | outputSize () const |
| Get size of configuration space. More...
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size_type | outputDerivativeSize () const |
| Get size of velocity. More...
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const interval_t & | timeRange () const |
| Get interval of definition. More...
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value_type | length () const |
| Get length of definition interval. More...
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const ConstraintSetPtr_t & | constraints () const |
| Get constraints the path is subject to. More...
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const interval_t & | paramRange () const |
| Get interval of parameters. More...
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void | timeParameterization (const TimeParameterizationPtr_t &tp, const interval_t &tr) |
| Set the time parameterization function. More...
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| Spline (const DevicePtr_t &robot, const interval_t &interval, const ConstraintSetPtr_t &constraints) |
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| Spline (const Spline &path) |
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| Spline (const Spline &path, const ConstraintSetPtr_t &constraints) |
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void | init (const Ptr_t &self) |
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std::ostream & | print (std::ostream &os) const |
| Print interval of definition (and of parameters if relevant) in a stream. More...
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bool | impl_compute (ConfigurationOut_t configuration, value_type t) const |
| Function evaluation without applying constraints. More...
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void | impl_derivative (vectorOut_t res, const value_type &t, size_type order) const |
| Virtual implementation of derivative. More...
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void | impl_paramDerivative (vectorOut_t res, const value_type &t) const |
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void | impl_paramIntegrate (vectorIn_t dParam) |
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void | impl_velocityBound (vectorOut_t result, const value_type &t0, const value_type &t1) const |
| Virtual implementation of velocityBound. More...
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| Path (const interval_t &interval, size_type outputSize, size_type outputDerivativeSize, const ConstraintSetPtr_t &constraints) |
| Constructor. More...
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| Path (const interval_t &interval, size_type outputSize, size_type outputDerivativeSize) |
| Constructor. More...
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| Path (const Path &path) |
| Copy constructor. More...
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| Path (const Path &path, const ConstraintSetPtr_t &constraints) |
| Copy constructor with constraints. More...
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void | init (const PathWkPtr_t &self) |
| Store weak pointer to itself. More...
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void | constraints (const ConstraintSetPtr_t &constraint) |
| Set the constraints. More...
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virtual void | checkPath () const |
| Should be called by child classes after having init. More...
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void | timeRange (const interval_t &timeRange) |
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const TimeParameterizationPtr_t & | timeParameterization () const |
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value_type | paramLength () const |
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Configuration_t | configAtParam (const value_type ¶m, bool &success) const |
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virtual PathPtr_t | impl_extract (const interval_t ¶mInterval) const throw (projection_error) |
| Virtual implementation of extract. More...
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template<int _PolynomeBasis, int _Order>
class hpp::core::path::Spline< _PolynomeBasis, _Order >
Base class for spline paths.
template<int _PolynomeBasis, int _Order>
The partial derivative with respects to the parameters is of the form
\begin{eqnarray*} \frac{\partial S}{\partial p_{k}} (q, p, t) &=& B_k(t) \times I \\ \frac{\partial S}{\partial q_{base}} (q, p, t) &=& I \end{eqnarray*}
This method returns the coefficients \( (B_k(t))_{k} \).