Namespaces | Functions
bernstein.h File Reference
#include "curve_abc.h"
#include "MathDefs.h"
#include <math.h>
Include dependency graph for bernstein.h:
This graph shows which files directly or indirectly include this file:

Namespaces

 curves
 

Functions

template<typename Numeric >
brief Computes all Bernstein polynomes for a certain degree std::vector< Bern< Numeric > > makeBernstein (const unsigned int n)
 

Function Documentation

◆ makeBernstein()

template<typename Numeric >
brief Computes all Bernstein polynomes for a certain degree std::vector<Bern<Numeric> > makeBernstein ( const unsigned int  n)
curves::optimization::END_JERK
@ END_JERK
Definition: definitions.h:28
curves::optimization::problem_data::variables_
std::vector< var_t > variables_
Definition: details.h:31
curves::cubic_hermite_spline::curve_abc_t
curve_abc< Time, Numeric, Safe, point_t > curve_abc_t
Definition: cubic_hermite_spline.h:41
curves::optimization::INIT_POS
@ INIT_POS
Definition: definitions.h:21
curves::SO3Linear::quaternion_t
Eigen::Quaternion< Scalar > quaternion_t
Definition: so3_linear.h:24
curves::Bern
Definition: fwd.h:43
curves::evaluateLinear
BezierFixed evaluateLinear(const BezierLinear &bIn, const X x)
Definition: linear_variable.h:143
curves::curve_SE3_t
curve_abc< double, double, true, transform_t, point6_t > curve_SE3_t
Definition: fwd.h:72
curves::SO3Linear::operator==
virtual bool operator==(const SO3Linear_t &other) const
Definition: so3_linear.h:142
curves::time_waypoints_t
Eigen::VectorXd time_waypoints_t
Definition: python_definitions.h:16
curves::SO3Linear::isApprox
virtual bool isApprox(const curve_abc_t *other, const Numeric prec=Eigen::NumTraits< Numeric >::dummy_precision()) const
Definition: so3_linear.h:133
curves::bezier_curve::evalBernstein
point_t evalBernstein(const Numeric t) const
Evaluate all Bernstein polynomes for a certain degree.
Definition: bezier_curve.h:245
curves::polynomial::coeff
Eigen::MatrixXd coeff() const
Definition: polynomial.h:322
curves::optimization::quadratic_problem::ineqMatrix
Eigen::Matrix< Numeric, Eigen::Dynamic, Eigen::Dynamic > ineqMatrix
Definition: definitions.h:35
curves::ret_pointX_t
Eigen::Matrix< double, Eigen::Dynamic, 1, 0, Eigen::Dynamic, 1 > ret_pointX_t
Definition: python_definitions.h:18
curves::optimization::END_VEL
@ END_VEL
Definition: definitions.h:26
curves::cubic_hermite_spline::evalCoeffs
static void evalCoeffs(const Numeric t, Numeric &h00, Numeric &h10, Numeric &h01, Numeric &h11, std::size_t degree_derivative)
Evaluate coefficient for polynom of cubic hermite spline.
Definition: cubic_hermite_spline.h:263
curves::piecewise_curve::curve_at_index
curve_ptr_t curve_at_index(const std::size_t idx) const
Definition: piecewise_curve.h:217
curves::optimization::INIT_VEL
@ INIT_VEL
Definition: definitions.h:22
details.h
curves::linear_variable::operator-=
linear_variable_t & operator-=(const linear_variable_t &w1)
Definition: linear_variable.h:54
curves::linear_variable::isApprox
bool isApprox(const linear_variable_t &other, const double prec=Eigen::NumTraits< Numeric >::dummy_precision()) const
Definition: linear_variable.h:84
curves::helpers::rotation_spline::rotation_spline
rotation_spline(quat_ref_const_t quat_from=quat_t(0, 0, 0, 1), quat_ref_const_t quat_to=quat_t(0, 0, 0, 1), const double min=0., const double max=1.)
Definition: effector_spline_rotation.h:42
curves::helpers::rotation_spline::derivate
virtual quat_t derivate(time_t, std::size_t) const
Definition: effector_spline_rotation.h:103
curves::vectorToEigenArray
PointList vectorToEigenArray(const T_point &vect)
Definition: python_definitions.h:51
curves::optimization::compute_integral_cost_internal
quadratic_variable< Numeric > compute_integral_cost_internal(const problem_data< Point, Numeric > &pData, const std::size_t num_derivate)
Definition: integral_cost.h:30
curves::helpers::rotation_spline::degree
virtual std::size_t degree() const
Get the degree of the curve.
Definition: effector_spline_rotation.h:127
curves::helpers::Time
double Time
Definition: effector_spline.h:27
curves::optimization::problem_data::bezier
bezier_t * bezier
Definition: details.h:36
curves::curve_abc::min
virtual time_t min() const =0
Get the minimum time for which the curve is defined.
curves::quadratic_variable::quadratic_variable_t
quadratic_variable< Numeric > quadratic_variable_t
Definition: quadratic_variable.h:28
curves::polynomial::dim_
std::size_t dim_
Definition: polynomial.h:375
curves::piecewise_curve::time_t
Time time_t
Definition: piecewise_curve.h:34
curves::helpers::rotation_spline::max_
double max_
Definition: effector_spline_rotation.h:134
curves::exact_cubic_t
exact_cubic< double, double, true, pointX_t, t_pointX_t, polynomial_t > exact_cubic_t
Definition: fwd.h:82
curves::SO3Linear::SO3Linear
SO3Linear()
Empty constructor.
Definition: so3_linear.h:33
curves::helpers::rotation_spline::compute_derivate_ptr
curve_abc_quat_t * compute_derivate_ptr(const std::size_t) const
Compute the derived curve at order N.
Definition: effector_spline_rotation.h:110
curves::SO3Linear::Scalar
Numeric Scalar
Definition: so3_linear.h:21
curves::optimization::VELOCITY
@ VELOCITY
Definition: integral_cost.h:22
curves::helpers::rotation_spline::computeWayPoints
exact_cubic_constraint_one_dim computeWayPoints() const
Initialize time reparametrization for spline.
Definition: effector_spline_rotation.h:115
so3_linear.h
curves::SplineOptimizer::time_t
Time time_t
Definition: OptimizeSpline.h:31
curves::SE3Curve::access
friend class boost::serialization::access
Definition: se3_curve.h:229
curves::curve_abc::curve_ptr_t
boost::shared_ptr< curve_t > curve_ptr_t
Definition: curve_abc.h:40
curves::SE3Curve::dim
virtual std::size_t dim() const
Get dimension of curve.
Definition: se3_curve.h:205
curves::optimization::problem_definition::degree
std::size_t degree
Definition: definitions.h:75
curves::helpers::Point
Eigen::Matrix< Numeric, Eigen::Dynamic, 1 > Point
Definition: effector_spline.h:28
curves::cubic_hermite_spline::cubic_hermite_spline_t
cubic_hermite_spline< Time, Numeric, Safe, point_t > cubic_hermite_spline_t
Definition: cubic_hermite_spline.h:42
curves::exact_cubic::it_spline_t
t_spline_t::iterator it_spline_t
Definition: exact_cubic.h:51
curves::curve_abc::~curve_abc
virtual ~curve_abc()
Destructor.
Definition: curve_abc.h:48
curves::optimization::operator~
constraint_flag operator~(constraint_flag a)
Definition: details.h:312
curves::linear_variable::vector_x_t
Eigen::Matrix< Numeric, Eigen::Dynamic, 1 > vector_x_t
Definition: linear_variable.h:27
curves::SE3Curve::SE3Curve
SE3Curve(const pointX_t &init_pos, const pointX_t &end_pos, const matrix3_t &init_rot, const matrix3_t &end_rot, const time_t &t_min, const time_t &t_max)
Constructor from init/end pose, with rotation matrix.
Definition: se3_curve.h:82
curves::helpers::rotation_spline::dim_
std::size_t dim_
Definition: effector_spline_rotation.h:132
curves::exact_cubic::exact_cubic_t
exact_cubic< Time, Numeric, Safe, Point, T_Point, SplineBase > exact_cubic_t
Definition: exact_cubic.h:55
curves::quadratic_variable::operator*=
quadratic_variable & operator*=(const double d)
Definition: quadratic_variable.h:94
curves::cubic_hermite_spline::min
virtual Time min() const
Get the minimum time for which the curve is defined.
Definition: cubic_hermite_spline.h:372
curves::helpers::rotation_spline::operator()
quat_t operator()(const Numeric t) const
Definition: effector_spline_rotation.h:66
curves::exact_cubic::curve_abc_t
curve_abc< Time, Numeric, Safe, point_t > curve_abc_t
Definition: exact_cubic.h:56
curves::polynomial::~polynomial
~polynomial()
Destructor.
Definition: polynomial.h:214
curves::SO3Linear::SO3Linear
SO3Linear(const matrix3_t &init_rot, const matrix3_t &end_rot)
constructor with initial and final rotation expressed as rotation matrix, time bounds are set to [0;1...
Definition: so3_linear.h:72
curves::exact_cubic::isApprox
bool isApprox(const exact_cubic_t &other, const Numeric prec=Eigen::NumTraits< Numeric >::dummy_precision()) const
isApprox check if other and *this are approximately equals.
Definition: exact_cubic.h:115
curves::curve_abc::num_t
Numeric num_t
Definition: curve_abc.h:38
curves::polynomial::polynomial_t
polynomial< Time, Numeric, Safe, Point, T_Point > polynomial_t
Definition: polynomial.h:43
curves::SE3Curve::SE3Curve_t
SE3Curve< Time, Numeric, Safe > SE3Curve_t
Definition: se3_curve.h:39
curves::piecewise_curve::add_curve_ptr
void add_curve_ptr(const curve_ptr_t &cf)
Add a new curve to piecewise curve, which should be defined in where is equal to of the actual pie...
Definition: piecewise_curve.h:148
curves::optimization::operator|
constraint_flag operator|(constraint_flag a, constraint_flag b)
Definition: details.h:316
curves::helpers::rotation_spline::operator!=
virtual bool operator!=(const rotation_spline &other) const
Definition: effector_spline_rotation.h:101
curves::SO3Linear::getEndRotation
matrix3_t getEndRotation()
Definition: so3_linear.h:189
curves::matrix3_t
Eigen::Matrix< double, 3, 3 > matrix3_t
Definition: fwd.h:59
curves::SO3Linear::T_max_
time_t T_max_
Definition: so3_linear.h:197
curves::exact_cubic
Definition: exact_cubic.h:42
curves::optimization::problem_data::T_var_t
std::vector< var_t > T_var_t
Definition: details.h:28
curves::exact_cubic::exact_cubic
exact_cubic(const t_spline_t &subSplines)
Constructor.
Definition: exact_cubic.h:93
curves::cubic_hermite_spline::~cubic_hermite_spline
virtual ~cubic_hermite_spline()
Destructor.
Definition: cubic_hermite_spline.h:85
curves::helpers::rotation_spline::isApprox
bool isApprox(const rotation_spline &other, const Numeric prec=Eigen::NumTraits< Numeric >::dummy_precision()) const
isApprox check if other and *this are approximately equals.
Definition: effector_spline_rotation.h:83
curves::helpers::effector_spline_rotation::max
Numeric max() const
Definition: effector_spline_rotation.h:225
curves::optimization::JERK
@ JERK
Definition: integral_cost.h:24
curves::SO3Linear::angular_vel_
point3_t angular_vel_
Definition: so3_linear.h:196
curves::helpers::effector_spline_rotation::interpolate_quat
quat_t interpolate_quat(const Numeric t) const
Definition: effector_spline_rotation.h:241
curves::polynomial::coeff_t
Eigen::MatrixXd coeff_t
Definition: polynomial.h:41
curves::helpers::t_waypoint_one_dim_t
std::vector< waypoint_one_dim_t > t_waypoint_one_dim_t
Definition: effector_spline_rotation.h:38
curves::SO3Linear::max
time_t max() const
Get the maximum time for which the curve is defined.
Definition: so3_linear.h:182
curves::optimization::problem_data::bezier_t
bezier_curve< Numeric, Numeric, true, linear_variable< Numeric > > bezier_t
Definition: details.h:29
curves::SE3Curve::point_t
transform_t point_t
Definition: se3_curve.h:26
curves::exact_cubic::exact_cubic
exact_cubic()
Empty constructor.
Definition: exact_cubic.h:64
curves::piecewise_curve::curve_at_time
curve_ptr_t curve_at_time(const time_t t) const
Definition: piecewise_curve.h:215
curves::t_time_t
std::vector< real > t_time_t
Definition: python_definitions.h:15
curves::quadratic_variable::operator-=
quadratic_variable & operator-=(const quadratic_variable &w1)
Definition: quadratic_variable.h:70
curves::helpers::rotation_spline::quat_to_
Eigen::Quaterniond quat_to_
Definition: effector_spline_rotation.h:131
curves::piecewise3_t
piecewise_curve< double, double, true, point3_t, point3_t, curve_3_t > piecewise3_t
Definition: fwd.h:92
curves::piecewise_curve::compute_derivate_ptr
piecewise_curve_t * compute_derivate_ptr(const std::size_t order) const
compute_derivate return a piecewise_curve which is the derivative of this at given order
Definition: piecewise_curve.h:127
curves::optimization::problem_definition::CIT_vector_x_t
T_vector_x_t::const_iterator CIT_vector_x_t
Definition: definitions.h:50
curves::hermite_from_curve
Hermite hermite_from_curve(const typename Hermite::curve_abc_t &curve)
Converts a polynomial of order 3 or less/cubic bezier curve to a cubic hermite spline.
Definition: curve_conversion.h:70
curves::bezier_curve::cit_point_t
t_point_t::const_iterator cit_point_t
Definition: bezier_curve.h:40
curves::optimization::problem_definition
Definition: definitions.h:41
curves::piecewise_curve::convert_discrete_points_to_polynomial
static piecewise_curve_t convert_discrete_points_to_polynomial(t_point_t points, t_point_derivate_t points_derivative, t_time_t time_points)
Definition: piecewise_curve.h:294
curves::quadratic_variable::b
const point_t & b() const
Definition: quadratic_variable.h:110
curves::optimization::problem_definition::vector_x_t
Eigen::Matrix< num_t, Eigen::Dynamic, 1 > vector_x_t
Definition: definitions.h:45
curves::helpers::quat_t
Eigen::Matrix< Numeric, 4, 1 > quat_t
Definition: effector_spline_rotation.h:28
curves::curve_constraints::end_jerk
point_t end_jerk
Definition: curve_constraint.h:47
curves::optimization::INIT_JERK
@ INIT_JERK
Definition: definitions.h:24
curves::optimization::ALL
@ ALL
Definition: definitions.h:29
curves::polynomial_t
polynomial< double, double, true, pointX_t, t_pointX_t > polynomial_t
Definition: fwd.h:81
curves::piecewise_curve::derivate
virtual point_derivate_t derivate(const Time t, const std::size_t order) const
Evaluate the derivative of order N of curve at time t.
Definition: piecewise_curve.h:114
curves::cubic_hermite_spline_t
cubic_hermite_spline< double, double, true, pointX_t > cubic_hermite_spline_t
Definition: fwd.h:84
curves::SE3Curve::translation_curve_
curve_ptr_t translation_curve_
Definition: se3_curve.h:223
curves::bezier_curve::compute_primitive
bezier_curve_t compute_primitive(const std::size_t order) const
Compute the primitive of the curve at order N.
Definition: bezier_curve.h:209
curves::SE3Curve::SE3Curve
SE3Curve(curve_ptr_t translation_curve, const Quaternion &init_rot, const Quaternion &end_rot)
Constructor from curve for the translation and init/end rotation, with quaternion.
Definition: se3_curve.h:96
curves::quadratic_variable::operator+=
quadratic_variable & operator+=(const quadratic_variable &w1)
Definition: quadratic_variable.h:56
curves::matrix4_t
Eigen::Matrix< double, 4, 4 > matrix4_t
Definition: fwd.h:60
curves::polynomial3_t
polynomial< double, double, true, point3_t, t_point3_t > polynomial3_t
Definition: fwd.h:88
curves::linear_variable::linear_variable_t
linear_variable< Numeric > linear_variable_t
Definition: linear_variable.h:29
curves::optimization::problem_definition::CIT_matrix_x_t
T_matrix_x_t::const_iterator CIT_matrix_x_t
Definition: definitions.h:49
curves::bezier_curve::bezier_curve_ptr_t
boost::shared_ptr< bezier_curve_t > bezier_curve_ptr_t
Definition: bezier_curve.h:42
curves::polynomial::t_point_t
T_Point t_point_t
Definition: polynomial.h:37
curves::optimization::FOURTH
@ FOURTH
Definition: integral_cost.h:25
curves::bezier_curve::piecewise_curve_t
piecewise_curve< Time, Numeric, Safe, point_t, point_t, bezier_curve_t > piecewise_curve_t
Definition: bezier_curve.h:43
curves::bezier_curve::vector_x_t
Eigen::Matrix< Numeric, Eigen::Dynamic, 1 > vector_x_t
Definition: bezier_curve.h:34
curves::helpers::T_Point
std::vector< Point, Eigen::aligned_allocator< Point > > T_Point
Definition: effector_spline.h:29
curves::curve_constraints::init_jerk
point_t init_jerk
Definition: curve_constraint.h:44
curves::optimization::problem_data::problem_data
problem_data(const problem_data &other)
Definition: details.h:39
curves::optimization::problem_definition::problem_definition
problem_definition(const curve_constraints_t &parent)
Definition: definitions.h:62
curves::optimization::initInequalityMatrix
void initInequalityMatrix(const problem_definition< Point, Numeric > &pDef, problem_data< Point, Numeric > &pData, quadratic_problem< Point, Numeric > &prob)
Definition: details.h:231
effector_spline.h
curves::piecewise_curve::operator!=
virtual bool operator!=(const piecewise_curve_t &other) const
Definition: piecewise_curve.h:107
curves::cubic_hermite_spline::point_t
Point point_t
Definition: cubic_hermite_spline.h:36
curves::bezier_from_curve
Bezier bezier_from_curve(const typename Bezier::curve_abc_t &curve)
Converts a cubic hermite spline or polynomial of order 3 or less to a cubic bezier curve.
Definition: curve_conversion.h:38
curves::cubic_hermite_spline::isApprox
bool isApprox(const cubic_hermite_spline_t &other, const Numeric prec=Eigen::NumTraits< Numeric >::dummy_precision()) const
isApprox check if other and *this are approximately equals.
Definition: cubic_hermite_spline.h:113
curves::piecewise_curve::is_continuous
bool is_continuous(const std::size_t order)
Check if the curve is continuous of order given.
Definition: piecewise_curve.h:181
curves::helpers::effector_spline_rotation
Represents a trajectory for and end effector. uses the method effector_spline to create a spline traj...
Definition: effector_spline_rotation.h:150
curves::polynomial::derivate
virtual point_t derivate(const time_t t, const std::size_t order) const
Evaluation of the derivative of order N of spline at time t.
Definition: polynomial.h:290
curves::piecewise_curve::num_t
Numeric num_t
Definition: piecewise_curve.h:35
curves::polynomial::dim
virtual std::size_t dim() const
Get dimension of curve.
Definition: polynomial.h:362
curves::polynomial
Represents a polynomial of an arbitrary order defined on the interval . It follows the equation : ...
Definition: fwd.h:34
curves::linear_variable::linear_variable
linear_variable(const vector_x_t &c)
Definition: linear_variable.h:32
curves::quadratic_variable::quadratic_variable
quadratic_variable()
Definition: quadratic_variable.h:30
curves::SO3Linear::point_t
matrix3_t point_t
Definition: so3_linear.h:22
curves::quadratic_variable::matrix_x_t
Eigen::Matrix< Numeric, Eigen::Dynamic, Eigen::Dynamic > matrix_x_t
Definition: quadratic_variable.h:26
curve_constraint.h
struct to define constraints on start / end velocities and acceleration on a curve
curves::optimization::operator&=
constraint_flag & operator&=(constraint_flag &a, constraint_flag b)
Definition: details.h:332
curves::optimization::problem_definition::flag
constraint_flag flag
Definition: definitions.h:72
curves::bezier_curve::bezier_curve
bezier_curve(const bezier_curve &other)
Definition: bezier_curve.h:114
curves::helpers::effector_spline_rotation::~effector_spline_rotation
~effector_spline_rotation()
Definition: effector_spline_rotation.h:220
curves::bezier_curve::curve_abc_t
curve_abc< Time, Numeric, Safe, point_t > curve_abc_t
Definition: bezier_curve.h:44
curves::curve_abc::point_derivate_t
Point_derivate point_derivate_t
Definition: curve_abc.h:36
curves::SO3Linear::computeAngularVelocity
point3_t computeAngularVelocity(const matrix3_t &init_rot, const matrix3_t &end_rot, const double t_min, const double t_max)
Definition: so3_linear.h:96
curves::cubic_hermite_spline::degree_
std::size_t degree_
Degree (Cubic so degree 3)
Definition: cubic_hermite_spline.h:402
polynomial.h
Definition of a cubic spline.
curves::SE3Curve::compute_derivate
SE3Curve_t compute_derivate(const std::size_t) const
Definition: se3_curve.h:193
curves::helpers::effector_spline_rotation::operator()
config_t operator()(const Numeric t) const
Evaluation of the effector position and rotation at time t.
Definition: effector_spline_rotation.h:234
curves::SE3Curve::isApprox
virtual bool isApprox(const curve_abc_t *other, const Numeric prec=Eigen::NumTraits< Numeric >::dummy_precision()) const
Definition: se3_curve.h:166
curves::optimization::problem_definition::inequalityVectors_
T_vector_x_t inequalityVectors_
Definition: definitions.h:79
curves::optimization::DISTANCE
@ DISTANCE
Definition: integral_cost.h:21
curves::helpers::rotation_spline::dim
virtual std::size_t dim() const
Get dimension of curve.
Definition: effector_spline_rotation.h:122
bernstein.h
curves::SO3Linear::getInitRotation
matrix3_t getInitRotation()
Definition: so3_linear.h:188
curves::helpers::rotation_spline::operator==
virtual bool operator==(const rotation_spline &other) const
Definition: effector_spline_rotation.h:99
curves::optimization::problem_definition::dim_
const std::size_t dim_
Definition: definitions.h:80
curves::SE3Curve::T_min_
time_t T_min_
Definition: se3_curve.h:225
curves::cubic_hermite_spline::dim_
std::size_t dim_
Dim of curve.
Definition: cubic_hermite_spline.h:383
curves::piecewise_curve::~piecewise_curve
virtual ~piecewise_curve()
Definition: piecewise_curve.h:68
curves::SplineOptimizer
Mosek connection to produce optimized splines.
Definition: OptimizeSpline.h:28
curves::piecewise_curve::piecewise_curve
piecewise_curve(const curve_ptr_t &cf)
Constructor.
Definition: piecewise_curve.h:52
curves::optimization::problem_definition::totalTime
num_t totalTime
Definition: definitions.h:76
curves::optimization::problem_definition::T_matrix_x_t
std::vector< matrix_x_t, Eigen::aligned_allocator< matrix_x_t > > T_matrix_x_t
Definition: definitions.h:47
curves::curve_rotation_t
curve_abc< double, double, true, matrix3_t, point3_t > curve_rotation_t
Definition: fwd.h:70
curves::helpers::curve_abc_quat_t
curve_abc< Time, Numeric, false, quat_t > curve_abc_quat_t
Definition: effector_spline_rotation.h:32
curves::SE3Curve::isApprox
bool isApprox(const SE3Curve_t &other, const Numeric prec=Eigen::NumTraits< Numeric >::dummy_precision()) const
isApprox check if other and *this are approximately equals.
Definition: se3_curve.h:159
curves::cubic_hermite_spline::serialize
void serialize(Archive &ar, const unsigned int version)
Definition: cubic_hermite_spline.h:409
curves::optimization::split
std::vector< bezier_curve< Numeric, Numeric, true, linear_variable< Numeric > > > split(const problem_definition< Point, Numeric > &pDef, problem_data< Point, Numeric > &pData)
Definition: details.h:208
curves::piecewise_curve::convert_piecewise_curve_to_bezier
piecewise_curve_t convert_piecewise_curve_to_bezier()
Definition: piecewise_curve.h:226
curves::helpers::rotation_spline::isApprox
virtual bool isApprox(const curve_abc_quat_t *other, const Numeric prec=Eigen::NumTraits< Numeric >::dummy_precision()) const
Definition: effector_spline_rotation.h:90
curves::helpers::Numeric
double Numeric
Definition: effector_spline.h:26
curves::curve_abc::compute_derivate_ptr
virtual curve_t * compute_derivate_ptr(const std::size_t order) const =0
Compute the derived curve at order N.
curves::bezier_curve::operator!=
virtual bool operator!=(const bezier_curve_t &other) const
Definition: bezier_curve.h:175
curves::helpers::rotation_spline::operator=
rotation_spline & operator=(const rotation_spline &from)
Definition: effector_spline_rotation.h:55
curves::optimization::problem_definition::point_t
Point point_t
Definition: definitions.h:42
curves::bezier3_t
bezier_curve< double, double, true, point3_t > bezier3_t
Definition: fwd.h:90
curves::piecewise_curve::convert_piecewise_curve_to_polynomial
piecewise_curve_t convert_piecewise_curve_to_polynomial()
Definition: piecewise_curve.h:256
curves::optimization::problem_data::problem_data
problem_data(const std::size_t dim)
Definition: details.h:22
curves::exact_cubic::exact_cubic
exact_cubic(In wayPointsBegin, In wayPointsEnd, const spline_constraints &constraints)
Constructor.
Definition: exact_cubic.h:84
curves::helpers::effector_spline_rotation::quat_spline_
const exact_cubic_quat_t quat_spline_
Definition: effector_spline_rotation.h:280
curves::optimization::problem_definition::curve_constraints_t
curve_constraints< point_t > curve_constraints_t
Definition: definitions.h:44
curves::SO3Linear::save
void save(Archive &ar, const unsigned int version) const
Definition: so3_linear.h:221
curves::polynomial::curve_abc_t
curve_abc< Time, Numeric, Safe, Point > curve_abc_t
Definition: polynomial.h:40
curves::linear_variable::c
const vector_x_t & c() const
Definition: linear_variable.h:90
curves::exact_cubic::exact_cubic
exact_cubic(In wayPointsBegin, In wayPointsEnd)
Constructor.
Definition: exact_cubic.h:71
curves::optimization::problem_definition::splitTimes_
vector_x_t splitTimes_
Definition: definitions.h:77
curves::curve_abc::curve_t
curve_abc< Time, Numeric, Safe, point_t, point_derivate_t > curve_t
Definition: curve_abc.h:39
curves::optimization::NONE
@ NONE
Definition: definitions.h:30
curves::bezier_curve::t_point_t
std::vector< point_t, Eigen::aligned_allocator< point_t > > t_point_t
Definition: bezier_curve.h:39
curves::t_pair_pointX_tangent_t
std::vector< pair_pointX_tangent_t, Eigen::aligned_allocator< pair_pointX_tangent_t > > t_pair_pointX_tangent_t
Definition: python_definitions.h:21
curves::curve_abc::point_t
Point point_t
Definition: curve_abc.h:35
curves::linear_variable::Zero
static linear_variable_t Zero(size_t dim=0)
Definition: linear_variable.h:76
curves::piecewise_curve::curve_ptr_t
boost::shared_ptr< curve_t > curve_ptr_t
Definition: piecewise_curve.h:38
curves::cubic_hermite_spline
Definition: cubic_hermite_spline.h:35
curves::optimization::problem_definition::problem_definition
problem_definition(const std::size_t dim)
Definition: definitions.h:52
curves::linear_variable::B
const matrix_x_t & B() const
Definition: linear_variable.h:89
curves::exact_cubic::spline_constraints
curve_constraints< Point > spline_constraints
Definition: exact_cubic.h:53
curves::SO3Linear::SO3Linear
SO3Linear(const quaternion_t &init_rot, const quaternion_t &end_rot, const time_t t_min, const time_t t_max)
constructor with initial and final rotation and time bounds
Definition: so3_linear.h:36
curves::SE3Curve::serialize
void serialize(Archive &ar, const unsigned int version)
Definition: se3_curve.h:232
curves::SE3Curve::compute_derivate_ptr
SE3Curve_t * compute_derivate_ptr(const std::size_t order) const
Compute the derived curve at order N.
Definition: se3_curve.h:200
curves::optimization::operator|=
constraint_flag & operator|=(constraint_flag &a, constraint_flag b)
Definition: details.h:328
curves::cubic_hermite_spline::dim
virtual std::size_t dim() const
Get dimension of curve.
Definition: cubic_hermite_spline.h:369
curves::bezier_curve::time_t
Time time_t
Definition: bezier_curve.h:36
curves::bezier_curve::compute_derivate
bezier_curve_t compute_derivate(const std::size_t order) const
Compute the derived curve at order N.
Definition: bezier_curve.h:181
curves::polynomial::operator==
virtual bool operator==(const polynomial_t &other) const
Definition: polynomial.h:282
curves::curve3_ptr_t
boost::shared_ptr< curve_3_t > curve3_ptr_t
Definition: fwd.h:76
curves::point6_t
Eigen::Matrix< double, 6, 1 > point6_t
Definition: fwd.h:57
curves::polynomial::polynomial
polynomial(const Point &init, const Point &d_init, const Point &dd_init, const Point &end, const Point &d_end, const Point &dd_end, const time_t min, const time_t max)
Constructor from boundary condition with C2 : create a polynomial that connect exactly init and end a...
Definition: polynomial.h:172
MathDefs.h
curves::optimization::problem_data::numControlPoints
std::size_t numControlPoints
Definition: details.h:33
curves::SO3Linear::SO3Linear
SO3Linear(const quaternion_t &init_rot, const quaternion_t &end_rot)
constructor with initial and final rotation, time bounds are set to [0;1]
Definition: so3_linear.h:60
curves::helpers::rotation_spline
Definition: effector_spline_rotation.h:40
curves::linear_variable::operator*=
linear_variable_t & operator*=(const double d)
Definition: linear_variable.h:70
curves
Definition: bernstein.h:20
curves::SO3Linear::load
void load(Archive &ar, const unsigned int version)
Definition: so3_linear.h:204
curves::SO3Linear::dim_
std::size_t dim_
Definition: so3_linear.h:194
curves::curve_abc_t
curve_abc< double, double, true, pointX_t, pointX_t > curve_abc_t
Definition: fwd.h:67
curves::SO3Linear::point_derivate_t
point3_t point_derivate_t
Definition: so3_linear.h:23
curves::curve_SE3_ptr_t
boost::shared_ptr< curve_SE3_t > curve_SE3_ptr_t
Definition: fwd.h:78
curves::optimization::problem_data::~problem_data
~problem_data()
Definition: details.h:23
curves::helpers::rotation_spline::min
virtual time_t min() const
Get the minimum time for which the curve is defined.
Definition: effector_spline_rotation.h:123
curves::piecewise_curve::max
virtual Time max() const
Get the maximum time for which the curve is defined.
Definition: piecewise_curve.h:408
curves::isApprox
bool isApprox(const T a, const T b, const T eps=1e-6)
Definition: curve_abc.h:25
curves::bezier_curve::isApprox
bool isApprox(const bezier_curve_t &other, const Numeric prec=Eigen::NumTraits< Numeric >::dummy_precision()) const
isApprox check if other and *this are approximately equals.
Definition: bezier_curve.h:153
curves::SE3Curve::SE3Curve
SE3Curve()
Empty constructor.
Definition: se3_curve.h:45
curves::point3_t
Eigen::Vector3d point3_t
Definition: fwd.h:52
curves::bezier_curve::bezier_curve
bezier_curve(In PointsBegin, In PointsEnd, const time_t T_min=0., const time_t T_max=1., const time_t mult_T=1.)
Constructor.
Definition: bezier_curve.h:61
curves::piecewise_curve::add_curve
void add_curve(const Curve &curve)
Definition: piecewise_curve.h:137
curves::SE3Curve::rotation_curve_
curve_rotation_ptr_t rotation_curve_
Definition: se3_curve.h:224
curves::quadratic_variable::c
const Numeric c() const
Definition: quadratic_variable.h:116
curves::cubic_hermite_spline::evalCubicHermiteSpline
Point evalCubicHermiteSpline(const Numeric t, std::size_t degree_derivative) const
Evaluate value of cubic hermite spline or its derivate at specified order at time .
Definition: cubic_hermite_spline.h:211
curves::cubic_hermite_spline::getTime
vector_time_t getTime()
Get vector of Time corresponding to Time for each control point.
Definition: cubic_hermite_spline.h:187
cubic_spline.h
Definition of a cubic spline.
curves::piecewise_curve< double, double, false, Eigen::Matrix< double, Eigen::Dynamic, 1 > >::dim
virtual std::size_t dim() const
Get dimension of curve.
Definition: piecewise_curve.h:402
curves::to_diagonal
Eigen::Matrix< N, Eigen::Dynamic, Eigen::Dynamic > to_diagonal(const Eigen::Ref< const Eigen::Matrix< N, Eigen::Dynamic, 1 > > vec)
Transforms a vector into a diagonal matrix.
Definition: quadratic_variable.h:134
curves::bezier_curve::curve_ptr_t
curve_abc_t::curve_ptr_t curve_ptr_t
Definition: bezier_curve.h:45
curves::helpers::rotation_spline::time_reparam_
exact_cubic_constraint_one_dim time_reparam_
Definition: effector_spline_rotation.h:135
curves::polynomial::curve_ptr_t
curve_abc_t::curve_ptr_t curve_ptr_t
Definition: polynomial.h:44
curves::helpers::T_Waypoint
std::vector< Waypoint > T_Waypoint
Definition: effector_spline.h:31
curves::cubic_hermite_spline::compute_derivate_ptr
cubic_hermite_spline_t * compute_derivate_ptr(const std::size_t order) const
Compute the derived curve at order N.
Definition: cubic_hermite_spline.h:157
curves::helpers::rotation_spline::min_
double min_
Definition: effector_spline_rotation.h:133
curves::helpers::waypoint_quat_t
std::pair< Numeric, quat_t > waypoint_quat_t
Definition: effector_spline_rotation.h:33
curves::SE3Curve::curve_ptr_t
boost::shared_ptr< curve_X_t > curve_ptr_t
Definition: se3_curve.h:34
curves::SO3Linear::min
time_t min() const
Get the minimum time for which the curve is defined.
Definition: so3_linear.h:179
curves::pointX_t
Eigen::VectorXd pointX_t
Definition: fwd.h:58
curves::helpers::effector_spline_rotation::effector_spline_rotation
effector_spline_rotation(In wayPointsBegin, In wayPointsEnd, InQuat quatWayPointsBegin, InQuat quatWayPointsEnd, 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)
Constructor.
Definition: effector_spline_rotation.h:205
curves::linear_variable
Definition: fwd.h:49
curves::polynomial::isApprox
virtual bool isApprox(const curve_abc_t *other, const Numeric prec=Eigen::NumTraits< Numeric >::dummy_precision()) const
Definition: polynomial.h:273
curves::optimization::quadratic_problem::ineqVector
Eigen::Matrix< Numeric, Eigen::Dynamic, 1 > ineqVector
Definition: definitions.h:36
curves::SO3Linear::access
friend class boost::serialization::access
Definition: so3_linear.h:201
curves::exact_cubic::point_t
Point point_t
Definition: exact_cubic.h:43
curves::cubic_hermite_spline::operator!=
virtual bool operator!=(const cubic_hermite_spline_t &other) const
Definition: cubic_hermite_spline.h:138
makeBernstein
brief Computes all Bernstein polynomes for a certain degree std::vector< Bern< Numeric > > makeBernstein(const unsigned int n)
Definition: bernstein.h:79
curves::piecewise_curve::convert_piecewise_curve_to_cubic_hermite
piecewise_curve_t convert_piecewise_curve_to_cubic_hermite()
Definition: piecewise_curve.h:241
curves::cubic_hermite_spline::degree
virtual std::size_t degree() const
Get the degree of the curve.
Definition: cubic_hermite_spline.h:378
curves::exact_cubic::num_t
Numeric num_t
Definition: exact_cubic.h:48
curves::helpers::rotation_spline::quat_from_
Eigen::Quaterniond quat_from_
Definition: effector_spline_rotation.h:130
curves::bezier_curve::curve_constraints_t
curve_constraints< point_t > curve_constraints_t
Definition: bezier_curve.h:38
curves::real
double real
Definition: python_definitions.h:14
curves::bezier_t
bezier_curve< double, double, true, pointX_t > bezier_t
Definition: fwd.h:83
curves::create_cubic
polynomial< Time, Numeric, Safe, Point, T_Point > create_cubic(Point const &a, Point const &b, Point const &c, Point const &d, const Time t_min, const Time t_max)
Definition: cubic_spline.h:39
curves::optimization::bezier_product
quadratic_variable< Numeric > bezier_product(In PointsBegin1, In PointsEnd1, In PointsBegin2, In PointsEnd2, const std::size_t)
Definition: details.h:279
bezier_curve.h
class allowing to create a Bezier curve of dimension 1 <= n <= 3.
curves::quadratic_variable::Zero
static quadratic_variable_t Zero(size_t dim=0)
Definition: quadratic_variable.h:46
curves::t_point3_t
std::vector< point3_t, Eigen::aligned_allocator< point3_t > > t_point3_t
Definition: fwd.h:63
curves::helpers::compute_required_offset_velocity_acceleration
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
curves::SE3Curve::SE3Curve
SE3Curve(const pointX_t &init_pos, const pointX_t &end_pos, const Quaternion &init_rot, const Quaternion &end_rot, const time_t &t_min, const time_t &t_max)
Constructor from init/end pose, with quaternion.
Definition: se3_curve.h:69
curves::helpers::t_waypoint_quat_t
std::vector< waypoint_quat_t > t_waypoint_quat_t
Definition: effector_spline_rotation.h:34
curves::helpers::point_one_dim_t
Eigen::Matrix< Numeric, 1, 1 > point_one_dim_t
Definition: effector_spline_rotation.h:35
curves::linear_variable::linear_variable
linear_variable(const matrix_x_t &B, const vector_x_t &c)
Definition: linear_variable.h:33
curves::linear_variable::size
std::size_t size() const
Definition: linear_variable.h:80
curves::helpers::config_t
Eigen::Matrix< Numeric, 7, 1 > config_t
Definition: effector_spline_rotation.h:31
curves::bezier_curve::operator()
virtual point_t operator()(const time_t t) const
Evaluation of the bezier curve at time t.
Definition: bezier_curve.h:133
curves::curve_abc::isEquivalent
bool isEquivalent(const curve_t *other, const Numeric prec=Eigen::NumTraits< Numeric >::dummy_precision(), const size_t order=5) const
isEquivalent check if other and *this are approximately equal by values, given a precision treshold.
Definition: curve_abc.h:76
curves::linear_variable::serialize
void serialize(Archive &ar, const unsigned int version)
Definition: linear_variable.h:97
curves::optimization::problem_definition::num_t
Numeric num_t
Definition: definitions.h:43
curves::piecewise_curve::piecewise_curve
piecewise_curve(const t_curve_ptr_t &curves_list)
Definition: piecewise_curve.h:54
curves::quadratic_variable::operator()
Numeric operator()(const Eigen::Ref< const point_t > &val) const
Definition: quadratic_variable.h:49
curves::helpers::effector_spline_rotation::land_quat_
const Eigen::Quaterniond land_quat_
Definition: effector_spline_rotation.h:277
curves::pointX_list_t
Eigen::MatrixXd pointX_list_t
Definition: python_definitions.h:20
curves::optimization::integral_cost_flag
integral_cost_flag
Definition: integral_cost.h:20
curves::piecewise_SE3_t
piecewise_curve< double, double, true, transform_t, point6_t, curve_SE3_t > piecewise_SE3_t
Definition: fwd.h:97
curves::piecewise_curve::T_max_
Time T_max_
Definition: piecewise_curve.h:422
curves::point_list3_t
Eigen::Matrix< real, 3, Eigen::Dynamic > point_list3_t
Definition: python_definitions.h:27
curves::SO3Linear
Represents a linear interpolation in SO3, using the slerp method provided by Eigen::Quaternion.
Definition: fwd.h:40
curves::SO3Linear::dim
virtual std::size_t dim() const
Get dimension of curve.
Definition: so3_linear.h:176
curves::point_list6_t
Eigen::Matrix< real, 6, Eigen::Dynamic > point_list6_t
Definition: python_definitions.h:28
curves::bezier_curve::derivate
virtual point_t derivate(const time_t t, const std::size_t order) const
Evaluate the derivative order N of curve at time t.
Definition: bezier_curve.h:235
curves::cubic_hermite_spline::num_t
Numeric num_t
Definition: cubic_hermite_spline.h:40
curves::SE3Curve::curve_rotation_ptr_t
boost::shared_ptr< curve_rotation_t > curve_rotation_ptr_t
Definition: se3_curve.h:35
curves::curve_constraints::curve_constraints
curve_constraints(const size_t dim=3)
Definition: curve_constraint.h:23
curves::polynomial::max
virtual num_t max() const
Get the maximum time for which the curve is defined.
Definition: polynomial.h:368
curves::piecewise_curve
Definition: fwd.h:31
curves::cubic_hermite_spline::cubic_hermite_spline
cubic_hermite_spline()
Empty constructor.
Definition: cubic_hermite_spline.h:47
curves::optimization::fill_with_zeros
LinearVar fill_with_zeros(const LinearVar &var, const std::size_t i, const std::size_t startVariableIndex, const std::size_t numVariables, const std::size_t Dim)
Definition: details.h:62
curves::piecewise_curve< double, double, false, Eigen::Matrix< double, Eigen::Dynamic, 1 > >::curves_
t_curve_ptr_t curves_
Definition: piecewise_curve.h:419
curves::helpers::rotation_spline::max
virtual time_t max() const
Get the maximum time for which the curve is defined.
Definition: effector_spline_rotation.h:124
curves::cubic_hermite_spline::vector_time_t
std::vector< Time > vector_time_t
Definition: cubic_hermite_spline.h:39
curves::SO3Linear::T_min_
time_t T_min_
Definition: so3_linear.h:197
curves::piecewise_curve::min
virtual Time min() const
Get the minimum time for which the curve is defined.
Definition: piecewise_curve.h:405
curves::quadratic_variable::A
const matrix_x_t & A() const
Definition: quadratic_variable.h:104
curves::optimization::problem_definition::T_vector_x_t
std::vector< vector_x_t, Eigen::aligned_allocator< vector_x_t > > T_vector_x_t
Definition: definitions.h:48
curves::curve_constraints::curve_constraints
curve_constraints(const curve_constraints &other)
Definition: curve_constraint.h:32
curves::SE3Curve::Quaternion
Eigen::Quaternion< Scalar > Quaternion
Definition: se3_curve.h:28
curves::piecewise_curve::curve_t
CurveType curve_t
Definition: piecewise_curve.h:37
curves::linear_variable::operator/=
linear_variable_t & operator/=(const double d)
Definition: linear_variable.h:65
curves::polynomial::polynomial
polynomial(const Point &init, const Point &end, const time_t min, const time_t max)
Constructor from boundary condition with C0 : create a polynomial that connect exactly init and end (...
Definition: polynomial.h:107
curves::cubic_hermite_spline::max
virtual Time max() const
Get the maximum time for which the curve is defined.
Definition: cubic_hermite_spline.h:375
curves::piecewise_curve::degree
virtual std::size_t degree() const
Get the degree of the curve.
Definition: piecewise_curve.h:411
curves::cubic_hermite_spline::getControlPoints
t_pair_point_tangent_t getControlPoints()
Get vector of pair (positition, derivative) corresponding to control points.
Definition: cubic_hermite_spline.h:182
curves::make_cubic_vector
T_Point make_cubic_vector(Point const &a, Point const &b, Point const &c, Point const &d)
Creates coefficient vector of a cubic spline defined on the interval .
Definition: cubic_spline.h:29
curves::polynomial::polynomial
polynomial(const Point &init, const Point &d_init, const Point &end, const Point &d_end, const time_t min, const time_t max)
Constructor from boundary condition with C1 : create a polynomial that connect exactly init and end a...
Definition: polynomial.h:128
curves::polynomial::T_min_
time_t T_min_
Definition: polynomial.h:378
curves::optimization::FIFTH
@ FIFTH
Definition: integral_cost.h:26
curves::transform_t
Eigen::Transform< double, 3, Eigen::Affine > transform_t
Definition: fwd.h:62
curves::optimization::problem_data::numVariables
std::size_t numVariables
Definition: details.h:32
curves::exact_cubic::MatrixX
Eigen::Matrix< Numeric, Eigen::Dynamic, Eigen::Dynamic > MatrixX
Definition: exact_cubic.h:45
curves::SE3Curve::rotation_curve
const curve_rotation_ptr_t rotation_curve() const
const accessor to the rotation curve
Definition: se3_curve.h:218
fwd.h
forward declaration of all curves class
curves::optimization::compute_num_ineq_control_points
long compute_num_ineq_control_points(const problem_definition< Point, Numeric > &pDef, const problem_data< Point, Numeric > &pData)
Definition: details.h:196
curves::helpers::t_spline_t
exact_cubic_t::t_spline_t t_spline_t
Definition: effector_spline.h:34
curves::piecewise_t
piecewise_curve< double, double, true, pointX_t, pointX_t, curve_abc_t > piecewise_t
Definition: fwd.h:85
curves::SO3Linear::time_t
Time time_t
Definition: so3_linear.h:25
quintic_spline.h
curves::piecewise_curve::convert_discrete_points_to_polynomial
static piecewise_curve_t convert_discrete_points_to_polynomial(t_point_t points, t_time_t time_points)
Definition: piecewise_curve.h:271
curves::polynomial::operator()
virtual point_t operator()(const time_t t) const
Evaluation of the cubic spline at time t using horner's scheme.
Definition: polynomial.h:246
curves::pair_pointX_tangent_t
std::pair< pointX_t, pointX_t > pair_pointX_tangent_t
Definition: python_definitions.h:19
curves::SE3Curve::translation_curve
const curve_ptr_t translation_curve() const
const accessor to the translation curve
Definition: se3_curve.h:216
curves::exact_cubic::t_curve_ptr_t
piecewise_curve_t::t_curve_ptr_t t_curve_ptr_t
Definition: exact_cubic.h:58
curves::polynomial::polynomial
polynomial(const coeff_t &coefficients, const time_t min, const time_t max)
Constructor.
Definition: polynomial.h:58
curves::polynomial::polynomial
polynomial()
Empty constructor.
Definition: polynomial.h:50
curves::optimization::constraint_flag
constraint_flag
Definition: definitions.h:20
curves::polynomial::polynomial
polynomial(In zeroOrderCoefficient, In out, const time_t min, const time_t max)
Constructor.
Definition: polynomial.h:92
curves::SO3Linear::compute_derivate
SO3Linear_t compute_derivate(const std::size_t) const
Definition: so3_linear.h:164
curves::SO3Linear::operator()
virtual point_t operator()(const time_t t) const
Evaluation of the SO3Linear at time t using Eigen slerp.
Definition: so3_linear.h:117
curves::piecewise_curve::base_curve_t
curve_abc< Time, Numeric, Safe, point_t, point_derivate_t > base_curve_t
Definition: piecewise_curve.h:36
curve_abc.h
interface for a Curve of arbitrary dimension.
curves::SplineOptimizer::exact_cubic_t
exact_cubic< time_t, Numeric, Dim, Safe, Point > exact_cubic_t
Definition: OptimizeSpline.h:33
curves::SE3Curve::operator==
virtual bool operator==(const SE3Curve_t &other) const
Definition: se3_curve.h:175
curves::optimization::problem_data::dim_
const std::size_t dim_
Definition: details.h:37
piecewise_curve.h
class allowing to create a piecewise curve.
curves::cubic_hermite_spline::derivate
virtual Point derivate(const Time t, const std::size_t order) const
Evaluate the derivative of order N of spline at time t.
Definition: cubic_hermite_spline.h:145
curves::curve_constraints
Definition: curve_constraint.h:21
curves::SO3Linear::getInitRotation
matrix3_t getInitRotation() const
Definition: so3_linear.h:186
curves::optimization::compute_integral_cost
quadratic_variable< Numeric > compute_integral_cost(const problem_data< Point, Numeric > &pData, const integral_cost_flag flag)
Definition: integral_cost.h:43
curves::curve_constraints::end_vel
point_t end_vel
Definition: curve_constraint.h:45
curves::SE3Curve::T_max_
time_t T_max_
Definition: se3_curve.h:225
curves::curve_abc::derivate
virtual point_derivate_t derivate(const time_t t, const std::size_t order) const =0
Evaluate the derivative of order N of curve at time t.
curves::cubic_hermite_spline::access
friend class boost::serialization::access
Definition: cubic_hermite_spline.h:406
curves::bezier_curve::vector_x_ref_t
Eigen::Ref< const vector_x_t > vector_x_ref_t
Definition: bezier_curve.h:35
curves::helpers::effector_spline_rotation::spline_
const exact_cubic_t * spline_
Definition: effector_spline_rotation.h:275
curves::SO3Linear::SO3Linear_t
SO3Linear< Time, Numeric, Safe > SO3Linear_t
Definition: so3_linear.h:27
curves::SE3Curve::curve_rotation_t
curve_abc< Time, Numeric, Safe, matrix3_t, point3_t > curve_rotation_t
Definition: se3_curve.h:33
curves::curve_constraints::dim_
size_t dim_
Definition: curve_constraint.h:48
curves::bezier_curve
Definition: bezier_curve.h:32
curves::linear_variable::isZero
bool isZero() const
Definition: linear_variable.h:91
curves::SE3Curve::derivate
virtual point_derivate_t derivate(const time_t t, const std::size_t order) const
Evaluation of the derivative of order N of spline at time t.
Definition: se3_curve.h:183
curves::cubic_hermite_spline3_t
cubic_hermite_spline< double, double, true, point3_t > cubic_hermite_spline3_t
Definition: fwd.h:91
curves::exact_cubic3_t
exact_cubic< double, double, true, point3_t, t_point3_t, polynomial_t > exact_cubic3_t
Definition: fwd.h:89
curves::quadratic_variable::operator/=
quadratic_variable & operator/=(const double d)
Definition: quadratic_variable.h:85
curves::quadratic_variable::isZero
bool isZero() const
Definition: quadratic_variable.h:122
curves::waypoint_t
std::pair< real, pointX_t > waypoint_t
Definition: python_definitions.h:24
curves::SplineOptimizer::num_t
Numeric num_t
Definition: OptimizeSpline.h:32
curves::helpers::waypoint_one_dim_t
std::pair< Numeric, point_one_dim_t > waypoint_one_dim_t
Definition: effector_spline_rotation.h:37
curves::cubic_hermite_spline::T_min_
Time T_min_
Starting time of cubic hermite spline : T_min_ is equal to first time of control points.
Definition: cubic_hermite_spline.h:396
curves::quaternion_t
Eigen::Quaternion< double > quaternion_t
Definition: fwd.h:61
curves::bezier_curve::bezier_curve
bezier_curve(In PointsBegin, In PointsEnd, const curve_constraints_t &constraints, const time_t T_min=0., const time_t T_max=1., const time_t mult_T=1.)
Constructor This constructor will add 4 points (2 after the first one, 2 before the last one) to ensu...
Definition: bezier_curve.h:93
curves::SE3Curve
Composition of a curve of any type of dimension 3 and a curve representing an rotation (in current im...
Definition: fwd.h:37
curves::helpers::effector_spline_rotation::time_land_offset_
const double time_land_offset_
Definition: effector_spline_rotation.h:279
curves::cubic_hermite_spline::time_control_points_
vector_time_t time_control_points_
Vector of Time corresponding to time of each N control points : time at .
Definition: cubic_hermite_spline.h:389
curves::SE3Curve::SE3Curve
SE3Curve(curve_ptr_t translation_curve, const matrix3_t &init_rot, const matrix3_t &end_rot)
Constructor from curve for the translation and init/end rotation, with rotation matrix.
Definition: se3_curve.h:107
curves::cubic_hermite_spline::compute_derivate
cubic_hermite_spline_t compute_derivate(const std::size_t) const
Definition: cubic_hermite_spline.h:150
curves::piecewise_curve::t_point_derivate_t
std::vector< point_derivate_t, Eigen::aligned_allocator< point_derivate_t > > t_point_derivate_t
Definition: piecewise_curve.h:33
curves::SO3Linear::SO3Linear
SO3Linear(const SO3Linear &other)
Definition: so3_linear.h:88
curves::optimization::problem_definition::init_pos
point_t init_pos
Definition: definitions.h:73
curves::optimization::problem_data::var_t
linear_variable< Numeric > var_t
Definition: details.h:27
curves::cubic_hermite_spline::cubic_hermite_spline
cubic_hermite_spline(const cubic_hermite_spline &other)
Definition: cubic_hermite_spline.h:74
curves::helpers::effector_spline_rotation::effector_spline_rotation
effector_spline_rotation(In wayPointsBegin, In wayPointsEnd, quat_ref_const_t &to_quat=quat_t(0, 0, 0, 1), quat_ref_const_t &land_quat=quat_t(0, 0, 0, 1), 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)
Constructor.
Definition: effector_spline_rotation.h:170
curves::linear_variable::norm
Numeric norm() const
Definition: linear_variable.h:82
curves::helpers::quat_ref_t
Eigen::Ref< quat_t > quat_ref_t
Definition: effector_spline_rotation.h:29
curves::exact_cubic::getNumberSplines
std::size_t getNumberSplines()
Definition: exact_cubic.h:119
curves::curve_abc::time_t
Time time_t
Definition: curve_abc.h:37
curves::piecewise_curve::point_t
Point point_t
Definition: piecewise_curve.h:30
curves::helpers::exact_cubic_t
exact_cubic< Time, Numeric, true, Point, T_Point > exact_cubic_t
Definition: effector_spline.h:32
curves::piecewise_curve::T_min_
Time T_min_
Definition: piecewise_curve.h:422
curves::SO3Linear::SO3Linear
SO3Linear(const matrix3_t &init_rot, const matrix3_t &end_rot, const time_t t_min, const time_t t_max)
constructor with initial and final rotation expressed as rotation matrix and time bounds
Definition: so3_linear.h:48
curves::curve_3_t
curve_abc< double, double, true, point3_t, point3_t > curve_3_t
Definition: fwd.h:68
curves::polynomial::degree
virtual std::size_t degree() const
Get the degree of the curve.
Definition: polynomial.h:371
curves::piecewise_curve< Numeric, Numeric, Safe, point_one_dim_t >::t_curve_ptr_t
std::vector< curve_ptr_t > t_curve_ptr_t
Definition: piecewise_curve.h:39
curves::SE3Curve::point_derivate_t
Eigen::Matrix< Scalar, 6, 1 > point_derivate_t
Definition: se3_curve.h:27
curves::exact_cubic::~exact_cubic
virtual ~exact_cubic()
Destructor.
Definition: exact_cubic.h:105
integral_cost.h
curves::cubic_hermite_spline::control_points_
t_pair_point_tangent_t control_points_
Vector of pair < Point, Tangent >.
Definition: cubic_hermite_spline.h:385
curves::curve_constraints_t
curves::curve_constraints< pointX_t > curve_constraints_t
Definition: python_definitions.h:22
curves::polynomial::point_t
Point point_t
Definition: polynomial.h:36
curves::helpers::effector_spline_rotation::min
Numeric min() const
Definition: effector_spline_rotation.h:224
curves::optimization::END_ACC
@ END_ACC
Definition: definitions.h:27
curves::helpers::quat_ref_const_t
const typedef Eigen::Ref< const quat_t > quat_ref_const_t
Definition: effector_spline_rotation.h:30
curves::quadratic_variable::quadratic_variable
quadratic_variable(const point_t &b, const Numeric c=0)
Definition: quadratic_variable.h:43
curves::cubic_hermite_spline::isApprox
virtual bool isApprox(const curve_abc_t *other, const Numeric prec=Eigen::NumTraits< Numeric >::dummy_precision()) const
Definition: cubic_hermite_spline.h:127
curves::polynomial::polynomial
polynomial(const polynomial &other)
Definition: polynomial.h:218
curves::linear_variable::access
friend class boost::serialization::access
Definition: linear_variable.h:94
curves::exact_cubic::t_point_t
T_Point t_point_t
Definition: exact_cubic.h:44
curves::optimization::problem_data::startVariableIndex
std::size_t startVariableIndex
Definition: details.h:34
curves::optimization::quadratic_problem::cost
quadratic_variable< Numeric > cost
Definition: definitions.h:37
curves::polynomial::access
friend class boost::serialization::access
Definition: polynomial.h:395
curves::polynomial::compute_derivate_ptr
polynomial_t * compute_derivate_ptr(const std::size_t order) const
Compute the derived curve at order N.
Definition: polynomial.h:318
curves::piecewise_curve::num_curves
std::size_t num_curves() const
Definition: piecewise_curve.h:213
curves::linear_variable::operator()
vector_x_t operator()(const Eigen::Ref< const vector_x_t > &val) const
Definition: linear_variable.h:36
linear_variable.h
storage for variable points of the form p_i = B_i x + c_i
curves::point_listX_t
Eigen::Matrix< real, Eigen::Dynamic, Eigen::Dynamic > point_listX_t
Definition: python_definitions.h:26
curves::coeff_t
polynomial_t::coeff_t coeff_t
Definition: python_definitions.h:29
curve_conversion.h
curves::SO3Linear::derivate
virtual point_derivate_t derivate(const time_t t, const std::size_t order) const
Evaluation of the derivative of order N of spline at time t.
Definition: so3_linear.h:150
curves::bezier_curve::operator==
virtual bool operator==(const bezier_curve_t &other) const
Definition: bezier_curve.h:173
curves::t_waypoint_t
std::vector< waypoint_t > t_waypoint_t
Definition: python_definitions.h:25
curves::piecewise_curve::t_time_t
std::vector< Time > t_time_t
Definition: piecewise_curve.h:40
curves::bezier_curve::point_t
Point point_t
Definition: bezier_curve.h:33
curves::curve_abc
Represents a curve of dimension Dim. If value of parameter Safe is false, no verification is made on ...
Definition: curve_abc.h:34
curves::optimization::quadratic_problem
Definition: definitions.h:34
curves::polynomial::polynomial
polynomial(const T_Point &coefficients, const time_t min, const time_t max)
Constructor.
Definition: polynomial.h:74
curves::optimization::problem_definition::inequalityMatrices_
T_matrix_x_t inequalityMatrices_
Definition: definitions.h:78
curves::helpers::exact_cubic_constraint_one_dim
exact_cubic< Numeric, Numeric, false, point_one_dim_t > exact_cubic_constraint_one_dim
Definition: effector_spline_rotation.h:36
curves::piecewise_curve::convert_discrete_points_to_polynomial
static piecewise_curve_t convert_discrete_points_to_polynomial(t_point_t points, t_point_derivate_t points_derivative, t_point_derivate_t points_second_derivative, t_time_t time_points)
Definition: piecewise_curve.h:325
curves::curve_rotation_ptr_t
boost::shared_ptr< curve_rotation_t > curve_rotation_ptr_t
Definition: fwd.h:77
curves::linear_variable::operator+=
linear_variable_t & operator+=(const linear_variable_t &w1)
Definition: linear_variable.h:43
curves::exact_cubic::time_t
Time time_t
Definition: exact_cubic.h:47
curves::helpers::spline_constraints_t
exact_cubic_t::spline_constraints spline_constraints_t
Definition: effector_spline.h:33
curves::bezier_curve::isApprox
virtual bool isApprox(const curve_abc_t *other, const Numeric prec=Eigen::NumTraits< Numeric >::dummy_precision()) const
Definition: bezier_curve.h:164
curves::helpers::rotation_spline::~rotation_spline
~rotation_spline()
Definition: effector_spline_rotation.h:52
curves::polynomial::time_t
Time time_t
Definition: polynomial.h:38
curves::SE3Curve::time_t
Time time_t
Definition: se3_curve.h:29
curves::polynomial::operator!=
virtual bool operator!=(const polynomial_t &other) const
Definition: polynomial.h:284
curves::bernstein_t
curves::Bern< double > bernstein_t
Definition: python_definitions.h:31
curves::curve_constraints3_t
curves::curve_constraints< point3_t > curve_constraints3_t
Definition: python_definitions.h:23
curves::piecewise_curve::piecewise_curve_t
piecewise_curve< Time, Numeric, Safe, Point, Point_derivate, CurveType > piecewise_curve_t
Definition: piecewise_curve.h:41
curves::cubic_hermite_spline::duration_splines_
vector_time_t duration_splines_
Vector of Time corresponding to time duration of each subspline.
Definition: cubic_hermite_spline.h:394
curves::cubic_hermite_spline::setTime
void setTime(const vector_time_t &time_control_points)
Set time of each control point of cubic hermite spline.
Definition: cubic_hermite_spline.h:166
curves::optimization::operator^=
constraint_flag & operator^=(constraint_flag &a, constraint_flag b)
Definition: details.h:336
curves::SO3Linear::degree
virtual std::size_t degree() const
Get the degree of the curve.
Definition: so3_linear.h:185
curves::curve_constraints::end_acc
point_t end_acc
Definition: curve_constraint.h:46
curves::SE3Curve::max
time_t max() const
Get the maximum time for which the curve is defined.
Definition: se3_curve.h:211
curves::piecewise_curve::piecewise_curve
piecewise_curve(const piecewise_curve &other)
Definition: piecewise_curve.h:60
curves::cubic_hermite_spline::t_pair_point_tangent_t
std::vector< pair_point_tangent_t, Eigen::aligned_allocator< Point > > t_pair_point_tangent_t
Definition: cubic_hermite_spline.h:38
curves::piecewise_curve::time_curves_
t_time_t time_curves_
Definition: piecewise_curve.h:420
curves::operator-
linear_variable< N, S > operator-(const linear_variable< N, S > &w1, const linear_variable< N, S > &w2)
Definition: linear_variable.h:119
curves::SO3Linear::computeAsQuaternion
quaternion_t computeAsQuaternion(const time_t t) const
Definition: so3_linear.h:104
curves::SO3Linear::operator!=
virtual bool operator!=(const SO3Linear_t &other) const
Definition: so3_linear.h:144
curves::SE3Curve::SE3Curve
SE3Curve(const transform_t &init_transform, const transform_t &end_transform, const time_t &t_min, const time_t &t_max)
Constructor from init/end transform use polynomial of degree 1 for position and SO3Linear for rotatio...
Definition: se3_curve.h:55
curves::helpers::effector_spline_rotation::time_lift_offset_
const double time_lift_offset_
Definition: effector_spline_rotation.h:278
curves::curve_constraints::~curve_constraints
~curve_constraints()
Definition: curve_constraint.h:41
curves::SO3Linear::end_rot_
quaternion_t end_rot_
Definition: so3_linear.h:195
curves::SplineOptimizer::GenerateOptimizedCurve
exact_cubic_t * GenerateOptimizedCurve(In wayPointsBegin, In wayPointsEnd) const
Start an optimization loop to create curve.
curves::bezier_curve::compute_derivate_ptr
bezier_curve_t * compute_derivate_ptr(const std::size_t order) const
Compute the derived curve at order N.
Definition: bezier_curve.h:200
curves::helpers::spline_t
exact_cubic_t::spline_t spline_t
Definition: effector_spline.h:35
curves::helpers::Waypoint
std::pair< double, Point > Waypoint
Definition: effector_spline.h:30
curves::bezier_curve::~bezier_curve
~bezier_curve()
Destructor.
Definition: bezier_curve.h:125
curves::bezier_curve::num_t
Numeric num_t
Definition: bezier_curve.h:37
curves::quadratic_variable::quadratic_variable
quadratic_variable(const matrix_x_t &A, const point_t &b, const Numeric c=0)
Definition: quadratic_variable.h:37
curves::optimization::operator&
constraint_flag operator&(constraint_flag a, constraint_flag b)
Definition: details.h:320
curves::SO3Linear::isApprox
bool isApprox(const SO3Linear_t &other, const Numeric prec=Eigen::NumTraits< Numeric >::dummy_precision()) const
isApprox check if other and *this are approximately equals.
Definition: so3_linear.h:127
curves::SO3Linear::getEndRotation
matrix3_t getEndRotation() const
Definition: so3_linear.h:187
curves::piecewise_curve::t_point_t
std::vector< point_t, Eigen::aligned_allocator< point_t > > t_point_t
Definition: piecewise_curve.h:32
curves::SE3Curve_t
SE3Curve< double, double, true > SE3Curve_t
Definition: fwd.h:96
curves::exact_cubic::exact_cubic
exact_cubic(const t_curve_ptr_t &subSplines)
Definition: exact_cubic.h:99
curves::piecewise_curve::serialize
void serialize(Archive &ar, const unsigned int version)
Definition: piecewise_curve.h:430
curves::SO3Linear_t
SO3Linear< double, double, true > SO3Linear_t
Definition: fwd.h:95
curves::curve_abc< double, double, false, Eigen::Matrix< double, Eigen::Dynamic, 1 > >::serialize
void serialize(Archive &, const unsigned int version)
Definition: curve_abc.h:138
curves::optimization::compute_linear_control_points
Bezier * compute_linear_control_points(const problem_data< Point, Numeric > &pData, const std::vector< LinearVar > &linearVars, const Numeric totalTime)
Definition: details.h:73
curves::piecewise_curve::piecewise_curve
piecewise_curve()
Empty constructor.
Definition: piecewise_curve.h:46
curves::curve_abc::timeRange
std::pair< time_t, time_t > timeRange()
Definition: curve_abc.h:132
curves::helpers::effector_spline
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
curves::exact_cubic::Matrix3
Eigen::Matrix< Numeric, 3, 3 > Matrix3
Definition: exact_cubic.h:46
curves::curve_abc::dim
virtual std::size_t dim() const =0
Get dimension of curve.
curves::curve_abc::degree
virtual std::size_t degree() const =0
Get the degree of the curve.
curves::SE3Curve::SE3Curve
SE3Curve(curve_ptr_t translation_curve, curve_rotation_ptr_t rotation_curve)
Constructor from from translation and rotation curves object.
Definition: se3_curve.h:119
curves::SplineOptimizer::~SplineOptimizer
~SplineOptimizer()
Destructor.
Definition: OptimizeSpline.h:47
curves::SO3Linear::curve_abc_t
curve_abc< Time, Numeric, Safe, point_t, point_derivate_t > curve_abc_t
Definition: so3_linear.h:26
curves::optimization::generate_problem
quadratic_problem< Point, Numeric > generate_problem(const problem_definition< Point, Numeric > &pDef, const quadratic_variable< Numeric > &cost)
Definition: quadratic_problem.h:22
definitions.h
utils for defining optimization problems
curves::cubic_hermite_spline::operator==
virtual bool operator==(const cubic_hermite_spline_t &other) const
Definition: cubic_hermite_spline.h:136
curves::linear_variable::matrix_x_t
Eigen::Matrix< Numeric, Eigen::Dynamic, Eigen::Dynamic > matrix_x_t
Definition: linear_variable.h:28
curves::piecewise_curve::operator()
virtual point_t operator()(const Time t) const
Definition: piecewise_curve.h:70
curves::piecewise_curve::isApprox
virtual bool isApprox(const base_curve_t *other, const Numeric prec=Eigen::NumTraits< Numeric >::dummy_precision()) const
Definition: piecewise_curve.h:96
curves::PseudoInverse
void PseudoInverse(_Matrix_Type_ &pinvmat)
Definition: MathDefs.h:26
curves::piecewise_curve::point_derivate_t
Point_derivate point_derivate_t
Definition: piecewise_curve.h:31
curves::optimization::problem_data
Definition: details.h:21
curves::cubic_hermite_spline::cubic_hermite_spline
cubic_hermite_spline(In PairsBegin, In PairsEnd, const vector_time_t &time_control_points)
Constructor.
Definition: cubic_hermite_spline.h:55
curves::piecewise_curve< double, double, false, Eigen::Matrix< double, Eigen::Dynamic, 1 > >::getNumberCurves
std::size_t getNumberCurves()
Definition: piecewise_curve.h:414
curves::polynomial::compute_derivate
polynomial_t compute_derivate(const std::size_t order) const
Definition: polynomial.h:305
curves::exact_cubic::t_spline_t
std::vector< spline_t > t_spline_t
Definition: exact_cubic.h:50
curves::piecewise_curve::isApprox
bool isApprox(const piecewise_curve_t &other, const Numeric prec=Eigen::NumTraits< Numeric >::dummy_precision()) const
isApprox check if other and *this are approximately equals.
Definition: piecewise_curve.h:87
curves::SE3Curve::SO3Linear_t
SO3Linear< Time, Numeric, Safe > SO3Linear_t
Definition: se3_curve.h:37
curves::optimization::problem_definition::end_pos
point_t end_pos
Definition: definitions.h:74
curves::curve_abc::operator()
virtual point_t operator()(const time_t t) const =0
Evaluation of the cubic spline at time t.
curves::linear_variable::linear_variable
linear_variable()
Definition: linear_variable.h:31
curves::exact_cubic::spline_t
SplineBase spline_t
Definition: exact_cubic.h:49
curves::cubic_hermite_spline::pair_point_tangent_t
std::pair< Point, Point > pair_point_tangent_t
Definition: cubic_hermite_spline.h:37
curves::SE3Curve::polynomial_t
polynomial< Time, Numeric, Safe, pointX_t > polynomial_t
Definition: se3_curve.h:38
curves::helpers::compute_offset
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
curves::SE3Curve::operator!=
virtual bool operator!=(const SE3Curve_t &other) const
Definition: se3_curve.h:177
curves::piecewise_curve::size_
std::size_t size_
Definition: piecewise_curve.h:421
curves::optimization::problem_data::numStateConstraints
std::size_t numStateConstraints
Definition: details.h:35
curves::vectorFromEigenArray
T_Point vectorFromEigenArray(const PointList &array)
Definition: python_definitions.h:34
curves::polynomial::serialize
void serialize(Archive &ar, const unsigned int version)
Definition: polynomial.h:398
curves::bezier_curve::bezier_curve_t
bezier_curve< Time, Numeric, Safe, Point > bezier_curve_t
Definition: bezier_curve.h:41
curves::curve_abc::isApprox
virtual bool isApprox(const curve_t *other, const Numeric prec=Eigen::NumTraits< Numeric >::dummy_precision()) const =0
isApprox check if other and *this are approximately equals given a precision treshold Only two curves...
curves::operator/
linear_variable< N, S > operator/(const linear_variable< N, S > &w, const double k)
Definition: linear_variable.h:137
curves::bezier_curve::bezier_curve
bezier_curve()
Empty constructor.
Definition: bezier_curve.h:51
curves::cubic_hermite_spline::T_max_
Time T_max_
Ending time of cubic hermite spline : T_max_ is equal to last time of control points.
Definition: cubic_hermite_spline.h:398
curves::optimization::END_POS
@ END_POS
Definition: definitions.h:25
curves::polynomial::num_t
Numeric num_t
Definition: polynomial.h:39
curves::SplineOptimizer::MatrixX
Eigen::Matrix< Numeric, Eigen::Dynamic, Eigen::Dynamic > MatrixX
Definition: OptimizeSpline.h:29
curves::SE3Curve::operator()
virtual point_t operator()(const time_t t) const
Evaluation of the SE3Curve at time t.
Definition: se3_curve.h:141
curves::SplineOptimizer::SplineOptimizer
SplineOptimizer()
Initializes optimizer environment.
Definition: OptimizeSpline.h:39
exact_cubic.h
class allowing to create an Exact cubic spline.
curves::exact_cubic::exact_cubic
exact_cubic(const exact_cubic &other)
Copy Constructor.
Definition: exact_cubic.h:102
curves::exact_cubic::getSplineAt
spline_t getSplineAt(std::size_t index)
Definition: exact_cubic.h:121
curves::SE3Curve::curve_abc_t
curve_abc< Time, Numeric, Safe, point_t, point_derivate_t > curve_abc_t
Definition: se3_curve.h:30
quadratic_variable.h
storage for variable points of the form p_i = x' A_i x + B_i x + c_i
curves::SE3Curve::transform_t
Eigen::Transform< Numeric, 3, Eigen::Affine > transform_t
Definition: se3_curve.h:25
curves::polynomial::coefficients_
coeff_t coefficients_
Definition: polynomial.h:376
curves::t_pointX_t
std::vector< pointX_t, Eigen::aligned_allocator< pointX_t > > t_pointX_t
Definition: fwd.h:64
curves::exact_cubic::piecewise_curve_t
piecewise_curve< Time, Numeric, Safe, Point > piecewise_curve_t
Definition: exact_cubic.h:57
curves::curve_constraints::init_vel
point_t init_vel
Definition: curve_constraint.h:42
curves::SO3Linear::init_rot_
quaternion_t init_rot_
Definition: so3_linear.h:195
curves::helpers::exact_cubic_quat_t
exact_cubic< Time, Numeric, false, quat_t, std::vector< quat_t, Eigen::aligned_allocator< quat_t > >, rotation_spline > exact_cubic_quat_t
Definition: effector_spline_rotation.h:141
curves::optimization::INIT_ACC
@ INIT_ACC
Definition: definitions.h:23
curves::exact_cubic::serialize
void serialize(Archive &ar, const unsigned int version)
Definition: exact_cubic.h:280
curves::polynomial::coeffAtDegree
point_t coeffAtDegree(const std::size_t degree) const
Definition: polynomial.h:324
curves::SplineOptimizer::point_t
Point point_t
Definition: OptimizeSpline.h:30
curves::SO3Linear::compute_derivate_ptr
SO3Linear_t * compute_derivate_ptr(const std::size_t order) const
Compute the derived curve at order N.
Definition: so3_linear.h:171
curves::SplineOptimizer::splineOptimizer_t
SplineOptimizer< time_t, Numeric, Dim, Safe, Point > splineOptimizer_t
Definition: OptimizeSpline.h:34
curves::make_quintic_vector
T_Point make_quintic_vector(Point const &a, Point const &b, Point const &c, Point const &d, Point const &e, Point const &f)
Creates coefficient vector of a quintic spline defined on the interval .
Definition: quintic_spline.h:29
curves::cubic_hermite_spline::size
std::size_t size() const
Get number of control points contained in the trajectory.
Definition: cubic_hermite_spline.h:192
curves::SE3Curve::dim_
std::size_t dim_
Definition: se3_curve.h:222
curves::quadratic_variable
Definition: fwd.h:52
curves::helpers::make_end_spline
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.
Definition: effector_spline.h:48
curves::optimization::setup_control_points
problem_data< Point, Numeric, Safe > setup_control_points(const problem_definition< Point, Numeric > &pDef)
Definition: details.h:85
curves::create_quintic
polynomial< Time, Numeric, Safe, Point, T_Point > create_quintic(Point const &a, Point const &b, Point const &c, Point const &d, Point const &e, Point const &f, const Time t_min, const Time t_max)
Definition: quintic_spline.h:42
curves::cubic_hermite_spline::size_
std::size_t size_
Number of control points (pairs).
Definition: cubic_hermite_spline.h:400
curves::curve_ptr_t
boost::shared_ptr< curve_abc_t > curve_ptr_t
Definition: fwd.h:75
curves::cubic_hermite_spline::operator()
virtual Point operator()(const Time t) const
Evaluation of the cubic hermite spline at time t.
Definition: cubic_hermite_spline.h:93
curves::quadratic_variable::size
std::size_t size() const
Definition: quadratic_variable.h:123
curves::curve_constraints::init_acc
point_t init_acc
Definition: curve_constraint.h:43
curves::SE3Curve::~SE3Curve
~SE3Curve()
Destructor.
Definition: se3_curve.h:48
curves::SE3Curve::degree
virtual std::size_t degree() const
Get the degree of the curve.
Definition: se3_curve.h:214
curves::curve_abc::max
virtual time_t max() const =0
Get the maximum time for which the curve is defined.
curves::vectorFromEigenVector
T_Point vectorFromEigenVector(const PointList &vector)
Definition: python_definitions.h:42
curves::optimization::operator^
constraint_flag operator^(constraint_flag a, constraint_flag b)
Definition: details.h:324
curves::curve_constraints::point_t
Point point_t
Definition: curve_constraint.h:22
curves::SE3Curve::curve_X_t
curve_abc< Time, Numeric, Safe, pointX_t > curve_X_t
Definition: se3_curve.h:31
curves::polynomial::degree_
std::size_t degree_
Definition: polynomial.h:377
curves::optimization::ACCELERATION
@ ACCELERATION
Definition: integral_cost.h:23
curves::piecewise_curve::dim_
std::size_t dim_
Definition: piecewise_curve.h:418
curves::SE3Curve::Scalar
Numeric Scalar
Definition: se3_curve.h:24
curves::SO3Linear::log3
point3_t log3(const matrix3_t &R)
Log: SO3 -> so3.
Definition: so3_linear.h:247
curves::polynomial::coeff_t_ref
Eigen::Ref< coeff_t > coeff_t_ref
Definition: polynomial.h:42
curves::SO3Linear::~SO3Linear
~SO3Linear()
Destructor.
Definition: so3_linear.h:84
curves::exact_cubic::cit_spline_t
t_spline_t::const_iterator cit_spline_t
Definition: exact_cubic.h:52
curves::polynomial_from_curve
Polynomial polynomial_from_curve(const typename Polynomial::curve_abc_t &curve)
Converts a cubic hermite spline or a bezier curve to a polynomial.
Definition: curve_conversion.h:20
curves::optimization::problem_definition::matrix_x_t
Eigen::Matrix< num_t, Eigen::Dynamic, Eigen::Dynamic > matrix_x_t
Definition: definitions.h:46
curves::helpers::effector_spline_rotation::to_quat_
const Eigen::Quaterniond to_quat_
Definition: effector_spline_rotation.h:276
curves::piecewise_curve::operator==
virtual bool operator==(const piecewise_curve_t &other) const
Definition: piecewise_curve.h:105
curves::quadratic_variable::point_t
Eigen::Matrix< Numeric, Eigen::Dynamic, 1 > point_t
Definition: quadratic_variable.h:27
curves::curve_abc::curve_abc
curve_abc()
Constructor.
Definition: curve_abc.h:45
curves::polynomial::isApprox
bool isApprox(const polynomial_t &other, const Numeric prec=Eigen::NumTraits< Numeric >::dummy_precision()) const
isApprox check if other and *this are approximately equals.
Definition: polynomial.h:268
curves::cubic_hermite_spline::numIntervals
std::size_t numIntervals() const
Get number of intervals (subsplines) contained in the trajectory.
Definition: cubic_hermite_spline.h:197
curves::optimization::num_active_constraints
std::size_t num_active_constraints(const constraint_flag &flag)
Definition: details.h:51
curves::operator*
linear_variable< N, S > operator*(const double k, const linear_variable< N, S > &w)
Definition: linear_variable.h:125
curves::piecewise_curve::MARGIN
static const double MARGIN
Definition: piecewise_curve.h:423
curves::polynomial::min
virtual num_t min() const
Get the minimum time for which the curve is defined.
Definition: polynomial.h:365
curves::operator+
linear_variable< N, S > operator+(const linear_variable< N, S > &w1, const linear_variable< N, S > &w2)
Definition: linear_variable.h:113
curves::polynomial::T_max_
time_t T_max_
Definition: polynomial.h:378
curves::SE3Curve::min
time_t min() const
Get the minimum time for which the curve is defined.
Definition: se3_curve.h:208