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;
40 const Numeric offset,
const Time time_offset) {
41 Numeric norm = normal.norm();
43 throw std::runtime_error(
"Norm of normal is less than 0!");
45 return std::make_pair(source.first + time_offset,
46 (source.second + normal / norm * offset));
52 const Numeric offset,
const Time init_time,
53 const Time time_offset) {
54 Numeric norm = normal.norm();
56 throw std::runtime_error(
"Norm of normal is less than 0!");
58 Point n = normal / norm;
59 Point d = offset / (time_offset * time_offset * time_offset) * -n;
60 Point c = -3 * d * time_offset;
61 Point b = -c * time_offset;
63 points.push_back(from);
67 return spline_t(points.begin(), points.end(), init_time,
68 init_time + time_offset);
73 const spline_t& end_spline,
const Time ) {
74 spline_constraints_t constraints(end_spline.dim());
75 constraints.
end_acc = end_spline.derivate(end_spline.min(), 2);
76 constraints.end_vel = end_spline.derivate(end_spline.min(), 1);
96 template <
typename In>
98 In wayPointsBegin, In wayPointsEnd,
99 const Point& lift_normal = Eigen::Vector3d::UnitZ(),
100 const Point& land_normal = Eigen::Vector3d::UnitZ(),
101 const Numeric lift_offset = 0.02,
const Numeric land_offset = 0.02,
102 const Time lift_offset_duration = 0.02,
103 const Time land_offset_duration = 0.02) {
104 T_Waypoint waypoints;
105 const Waypoint &inPoint = *wayPointsBegin, endPoint = *(wayPointsEnd - 1);
106 waypoints.push_back(inPoint);
109 compute_offset(inPoint, lift_normal, lift_offset, lift_offset_duration));
111 waypoints.insert(waypoints.end(), wayPointsBegin + 1, wayPointsEnd - 1);
113 const Waypoint& landWaypoint =
114 compute_offset(endPoint, land_normal, land_offset, -land_offset_duration);
115 waypoints.push_back(landWaypoint);
118 spline_t end_spline =
120 landWaypoint.first, land_offset_duration);
121 spline_constraints_t constraints =
123 land_offset_duration);
124 exact_cubic_t splines(waypoints.begin(), waypoints.end(), constraints);
125 splines.add_curve(end_spline);
130 #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:51
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:72
point_t end_acc
Definition: curve_constraint.h:62
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:39
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:97
Definition: curve_constraint.h:20