19 #ifndef _CLASS_EFFECTORSPLINE 20 #define _CLASS_EFFECTORSPLINE 28 typedef Eigen::Matrix<Numeric, Eigen::Dynamic, 1>
Point;
29 typedef std::vector<Point, Eigen::aligned_allocator<Point> >
T_Point;
38 Waypoint
compute_offset(
const Waypoint& source,
const Point& normal,
const Numeric offset,
const Time time_offset) {
39 Numeric norm = normal.norm();
41 throw std::runtime_error(
"Norm of normal is less than 0!");
43 return std::make_pair(source.first + time_offset, (source.second + normal / norm * offset));
48 spline_t
make_end_spline(
const Point& normal,
const Point& from,
const Numeric offset,
const Time init_time,
49 const Time time_offset) {
50 Numeric norm = normal.norm();
52 throw std::runtime_error(
"Norm of normal is less than 0!");
54 Point n = normal / norm;
55 Point d = offset / (time_offset * time_offset * time_offset) * -n;
56 Point c = -3 * d * time_offset;
57 Point b = -c * time_offset;
59 points.push_back(from);
63 return spline_t(points.begin(), points.end(), init_time, init_time + time_offset);
69 spline_constraints_t constraints(end_spline.dim());
70 constraints.
end_acc = end_spline.derivate(end_spline.min(), 2);
71 constraints.end_vel = end_spline.derivate(end_spline.min(), 1);
90 template <
typename In>
91 exact_cubic_t*
effector_spline(In wayPointsBegin, In wayPointsEnd,
const Point& lift_normal = Eigen::Vector3d::UnitZ(),
92 const Point& land_normal = Eigen::Vector3d::UnitZ(),
const Numeric lift_offset = 0.02,
93 const Numeric land_offset = 0.02,
const Time lift_offset_duration = 0.02,
94 const Time land_offset_duration = 0.02) {
96 const Waypoint &inPoint = *wayPointsBegin, endPoint = *(wayPointsEnd - 1);
97 waypoints.push_back(inPoint);
99 waypoints.push_back(
compute_offset(inPoint, lift_normal, lift_offset, lift_offset_duration));
101 waypoints.insert(waypoints.end(), wayPointsBegin + 1, wayPointsEnd - 1);
103 const Waypoint& landWaypoint =
compute_offset(endPoint, land_normal, land_offset, -land_offset_duration);
104 waypoints.push_back(landWaypoint);
106 spline_t end_spline =
107 make_end_spline(land_normal, landWaypoint.second, land_offset, landWaypoint.first, land_offset_duration);
109 exact_cubic_t splines(waypoints.begin(), waypoints.end(), constraints);
110 splines.add_curve(end_spline);
115 #endif //_CLASS_EFFECTORSPLINE Definition: bernstein.h:20
class allowing to create an Exact cubic spline.
exact_cubic_t::spline_constraints spline_constraints_t
Definition: effector_spline.h:33
Definition: exact_cubic.h:41
std::vector< spline_t > t_spline_t
Definition: exact_cubic.h:50
SplineBase spline_t
Definition: exact_cubic.h:49
std::vector< Waypoint > T_Waypoint
Definition: effector_spline.h:31
spline_t make_end_spline(const Point &normal, const Point &from, const Numeric offset, const Time init_time, const Time time_offset)
Compute spline from land way point to end point. Constraints are null velocity and acceleration...
Definition: effector_spline.h:48
std::vector< Point, Eigen::aligned_allocator< Point > > T_Point
Definition: effector_spline.h:29
exact_cubic_t::spline_t spline_t
Definition: effector_spline.h:35
double Time
Definition: effector_spline.h:27
exact_cubic_t::t_spline_t t_spline_t
Definition: effector_spline.h:34
spline_constraints_t compute_required_offset_velocity_acceleration(const spline_t &end_spline, const Time)
Compute end velocity : along landing normal and respecting time.
Definition: effector_spline.h:67
point_t end_acc
Definition: curve_constraint.h:61
exact_cubic< Time, Numeric, true, Point, T_Point > exact_cubic_t
Definition: effector_spline.h:32
std::pair< double, Point > Waypoint
Definition: effector_spline.h:30
Eigen::Matrix< Numeric, Eigen::Dynamic, 1 > Point
Definition: effector_spline.h:28
double Numeric
Definition: effector_spline.h:26
Waypoint compute_offset(const Waypoint &source, const Point &normal, const Numeric offset, const Time time_offset)
Compute time such that the equation from source to offsetpoint is necessarily a line.
Definition: effector_spline.h:38
exact_cubic_t * effector_spline(In wayPointsBegin, In wayPointsEnd, const Point &lift_normal=Eigen::Vector3d::UnitZ(), const Point &land_normal=Eigen::Vector3d::UnitZ(), const Numeric lift_offset=0.02, const Numeric land_offset=0.02, const Time lift_offset_duration=0.02, const Time land_offset_duration=0.02)
Helper method to create a spline typically used to guide the 3d trajectory of a robot end effector...
Definition: effector_spline.h:91
Definition: curve_constraint.h:22