hpp-bezier-com-traj  4.11.0
Multi contact trajectory generation for the COM using Bezier curves
bezier_com_traj::c0_dc0_ddc0 Namespace Reference

Functions

coefs_t evaluateCurveAtTime (const std::vector< point_t > &pi, double t)
 

EQUATION FOR CONSTRAINts on initial position, velocity and acceleration, and only final position (degree = 4)

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coefs_t evaluateAccelerationCurveAtTime (const std::vector< point_t > &pi, double T, double t)
 
std::vector< point_tcomputeConstantWaypoints (const ProblemData &pData, double T)
 
bezier_wp_t::t_point_t computeWwaypoints (const ProblemData &pData, double T)
 
coefs_t computeFinalVelocityPoint (const ProblemData &pData, double T)
 

Function Documentation

◆ computeConstantWaypoints()

std::vector<point_t> bezier_com_traj::c0_dc0_ddc0::computeConstantWaypoints ( const ProblemData pData,
double  T 
)
inline

◆ computeFinalVelocityPoint()

coefs_t bezier_com_traj::c0_dc0_ddc0::computeFinalVelocityPoint ( const ProblemData pData,
double  T 
)
inline

◆ computeWwaypoints()

bezier_wp_t::t_point_t bezier_com_traj::c0_dc0_ddc0::computeWwaypoints ( const ProblemData pData,
double  T 
)
inline

◆ evaluateAccelerationCurveAtTime()

coefs_t bezier_com_traj::c0_dc0_ddc0::evaluateAccelerationCurveAtTime ( const std::vector< point_t > &  pi,
double  T,
double  t 
)
inline

◆ evaluateCurveAtTime()

coefs_t bezier_com_traj::c0_dc0_ddc0::evaluateCurveAtTime ( const std::vector< point_t > &  pi,
double  t 
)
inline

EQUATION FOR CONSTRAINts on initial position, velocity and acceleration, and only final position (degree = 4)

evaluateCurveAtTime compute the expression of the point on the curve at t, defined by the waypoint pi and one free waypoint (x)

Parameters
piconstant waypoints of the curve, assume pi[0] pi[1] x pi[2] p3
tparam (normalized !)
Returns
the expression of the waypoint such that wp.first . x + wp.second = point on curve