#include <hpp/core/path/hermite.hh>
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typedef Spline< BernsteinBasis, 3 > | parent_t |
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enum | |
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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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virtual | ~Hermite () |
| Destructor. More...
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virtual PathPtr_t | copy () const |
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virtual PathPtr_t | copy (const ConstraintSetPtr_t &constraints) const |
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DevicePtr_t | device () const |
| Return the internal robot. More...
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void | v0 (const vectorIn_t &speed) |
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void | v1 (const vectorIn_t &speed) |
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vector_t | v0 () const |
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vector_t | v1 () const |
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virtual Configuration_t | initial () const |
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virtual Configuration_t | end () const |
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const value_type & | hermiteLength () const |
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void | computeHermiteLength () |
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vector_t | velocity (const value_type &t) const |
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size_type | parameterSize () const |
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void | parameterDerivativeCoefficients (vectorOut_t res, const value_type &t) const |
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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 |
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void | squaredNormIntegralDerivative (const size_type order, vectorOut_t res) const |
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void | basisFunctionDerivative (const size_type order, const value_type &u, BasisFunctionVector_t &res) const |
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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 |
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void | squaredNormBasisFunctionIntegral (const size_type order, BasisFunctionIntegralMatrix_t &res) const |
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void | squaredNormBasisFunctionIntegral (const size_type order, matrixOut_t res) const |
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virtual Configuration_t | initial () const |
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virtual Configuration_t | end () const |
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const Configuration_t & | base () const |
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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) |
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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 |
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PathPtr_t | copy (const ConstraintSetPtr_t &constraints) const |
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virtual | ~Spline () |
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static HermitePtr_t | create (const DevicePtr_t &device, ConfigurationIn_t init, ConfigurationIn_t end, ConstraintSetPtr_t constraints) |
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static HermitePtr_t | createCopy (const HermitePtr_t &path) |
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static HermitePtr_t | createCopy (const HermitePtr_t &path, const ConstraintSetPtr_t &constraints) |
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static void | timeFreeBasisFunctionDerivative (const size_type order, const value_type &u, BasisFunctionVector_t &res) |
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static void | timeFreeBasisFunctionDerivative (const size_type order, const value_type &u, vectorOut_t res) |
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static Ptr_t | create (const DevicePtr_t &robot, const interval_t &interval, const ConstraintSetPtr_t &constraints) |
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static void | value (pinocchio::LiegroupElementConstRef base, Eigen::Ref< const ParameterMatrix_t > params, const value_type &u, ConfigurationOut_t config, vectorOut_t velocity) |
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virtual std::ostream & | print (std::ostream &os) const |
| Print path in a stream. More...
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| Hermite (const DevicePtr_t &robot, ConfigurationIn_t init, ConfigurationIn_t end) |
| Constructor. More...
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| Hermite (const DevicePtr_t &robot, ConfigurationIn_t init, ConfigurationIn_t end, ConstraintSetPtr_t constraints) |
| Constructor with constraints. More...
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| Hermite (const Hermite &path) |
| Copy constructor. More...
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| Hermite (const Hermite &path, const ConstraintSetPtr_t &constraints) |
| Copy constructor with constraints. More...
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void | init (HermitePtr_t self) |
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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 |
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bool | impl_compute (ConfigurationOut_t configuration, value_type t) const |
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void | impl_derivative (vectorOut_t res, const value_type &t, size_type order) const |
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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 |
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◆ parent_t
◆ ~Hermite()
virtual hpp::core::path::Hermite::~Hermite |
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inlinevirtual |
◆ Hermite() [1/4]
◆ Hermite() [2/4]
Constructor with constraints.
◆ Hermite() [3/4]
hpp::core::path::Hermite::Hermite |
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const Hermite & |
path | ) |
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protected |
◆ Hermite() [4/4]
Copy constructor with constraints.
◆ computeHermiteLength()
void hpp::core::path::Hermite::computeHermiteLength |
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◆ copy() [1/2]
virtual PathPtr_t hpp::core::path::Hermite::copy |
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const |
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inlinevirtual |
Return a shared pointer to this
As StaightPath are immutable, and refered to by shared pointers, they do not need to be copied.
◆ copy() [2/2]
Return a shared pointer to a copy of this and set constraints
- Parameters
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constraints | constraints to apply to the copy |
- Precondition
- *this should not have constraints.
◆ create()
◆ createCopy() [1/2]
Create copy and return shared pointer
- Parameters
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◆ createCopy() [2/2]
Create copy and return shared pointer
- Parameters
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path | path to copy |
constraints | the path is subject to |
◆ device()
Return the internal robot.
◆ end()
◆ hermiteLength()
const value_type& hpp::core::path::Hermite::hermiteLength |
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const |
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inline |
◆ init()
◆ initial()
◆ print()
virtual std::ostream& hpp::core::path::Hermite::print |
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std::ostream & |
os | ) |
const |
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inlineprotectedvirtual |
◆ v0() [1/2]
vector_t hpp::core::path::Hermite::v0 |
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const |
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inline |
◆ v0() [2/2]
void hpp::core::path::Hermite::v0 |
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const vectorIn_t & |
speed | ) |
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inline |
◆ v1() [1/2]
vector_t hpp::core::path::Hermite::v1 |
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const |
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inline |
◆ v1() [2/2]
void hpp::core::path::Hermite::v1 |
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const vectorIn_t & |
speed | ) |
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inline |
◆ velocity()
The documentation for this class was generated from the following file: