anthropomorphic-cost-function.hh File Reference
#include <roboptim/trajectory/sys.hh>
#include <boost/optional.hpp>
#include <roboptim/core/derivable-function.hh>
#include <roboptim/trajectory/fwd.hh>
#include <roboptim/trajectory/stable-time-point.hh>
#include <roboptim/trajectory/anthropomorphic-cost-function.hxx>
Include dependency graph for anthropomorphic-cost-function.hh:

Classes

class  roboptim::trajectory::AnthropomorphicCostFunction< T >
 Cost function from `‘An optimal control model unifying holonomic and nonholonomic walking’' Katja Mombaur, Jean-Paul Laumond, Eiichi Yoshida (2008 8th IEEE-RAS Interational Conference on Humanoid Robots). More...
 

Namespaces

 roboptim
 Meta-functions, functions and solvers related classes.
 
 roboptim::trajectory
 
roboptim::trajectory::CubicBSpline::basisFunctions
vector_t basisFunctions(value_type t, size_type order) const ROBOPTIM_TRAJECTORY_DEPRECATED
Compute the basis functions for a given instant t.
Definition: cubic-b-spline.cc:270
roboptim::trajectory::visualization::matplotlib::Command
roboptim::visualization::matplotlib::Command Command
Definition: b-spline-matplotlib.hh:38
roboptim::trajectory::Polynomial::t0
value_type t0() const
Const getter to t0.
Definition: polynomial.hxx:323
roboptim::trajectory::BSpline::variationConfigWrtParam
virtual jacobian_t variationConfigWrtParam(value_type t) const
Definition: b-spline.hxx:554
roboptim::trajectory::Trajectory::isValidTime
bool isValidTime(value_type t) const
Definition: trajectory.hxx:156
roboptim::trajectory::Trajectory::print
virtual std::ostream & print(std::ostream &) const
Definition: trajectory.hxx:200
roboptim::trajectory::CubicBSpline::print
virtual std::ostream & print(std::ostream &o) const
Display the function on the specified output stream.
Definition: cubic-b-spline.cc:543
vector-interpolation.hxx
frontal-speed.hh
roboptim::trajectory::Freeze::operator()
void operator()(const frozenArguments_t fa)
Apply modification.
Definition: freeze.hxx:39
roboptim::trajectory::operator*
Polynomial< N > operator*(typename Polynomial< N >::value_type lambda, const Polynomial< N > &poly)
Definition: polynomial.hxx:295
roboptim::trajectory::VectorInterpolation::singularPointAtRank
value_type singularPointAtRank(size_type rank) const
Get singular point at given rank.
Definition: vector-interpolation.hxx:190
roboptim::trajectory::FrontalSpeed::~FrontalSpeed
~FrontalSpeed()
Definition: frontal-speed.cc:33
roboptim::trajectory::Trajectory::normalizeAngles
virtual void normalizeAngles(size_type index)
Normalize angles in parameters array.
Definition: trajectory.hxx:165
state-function.hh
trajectory-sum-cost.hh
roboptim::trajectory::visualization::gnuplot::plot_speeds
Command plot_speeds(const T &traj, typename T::value_type step=.01)
Definition: speed.hh:48
roboptim::trajectory::Polynomial::translateInPlace
void translateInPlace(value_type t1)
Translate the polynomial (in place) from (t-t₀) to (t-t₁).
Definition: polynomial.hxx:234
roboptim::trajectory::BSpline::monomial_t
Monomial< N > monomial_t
Definition: b-spline.hh:52
roboptim::trajectory::AnthropomorphicCostFunction::defaultAlpha
static vector_t defaultAlpha()
Definition: anthropomorphic-cost-function.hh:49
roboptim::trajectory::BSpline::interval_t
parent_t::interval_t interval_t
Definition: b-spline.hh:49
roboptim::visualization
Graphic visualization.
spline-length.hh
roboptim::trajectory::ConstrainedBSpline::constraints_
matrix_t constraints_
Matrix storing constraints.
Definition: constrained-b-spline.hh:110
roboptim::trajectory::LimitOmega
Definition: limit-omega.hh:33
roboptim::trajectory::Monomial3
Monomial< 3 > Monomial3
Monomial3.
Definition: polynomial-3.hh:39
roboptim::trajectory::detail::ComputeIntegral::ComputeIntegral
ComputeIntegral(const T &traj, Function::const_vector_ref alpha, const double &alpha3, double &res)
Definition: anthropomorphic-cost-function.hxx:66
debug.hh
roboptim::trajectory::detail::ComputeIntegral
Definition: anthropomorphic-cost-function.hxx:64
roboptim::trajectory::TrajectorySumCost::parent_t
DerivableFunction parent_t
Parent type.
Definition: trajectory-sum-cost.hh:58
roboptim::trajectory::StateFunction
Trajectory cost function defined by state evaluation at parameter.
Definition: fwd.hh:33
b-spline.hh
roboptim::trajectory::visualization::gnuplot::plot_limitSpeed
Command plot_limitSpeed(const Trajectory< dorder > &trajectory, boost::optional< double > vMax=boost::optional< double >(), typename Trajectory< dorder >::value_type step=.01)
Plot a speed limit constraint.
Definition: visualization/limit-speed.hh:79
roboptim::trajectory::BSpline::getNumberControlPoints
size_type getNumberControlPoints() const
Get the number of control points of the spline.
Definition: b-spline.hh:156
roboptim::trajectory::BSpline::logger
static log4cxx::LoggerPtr logger
Pointer to B-spline logger (see log4cxx documentation).
Definition: b-spline.hh:261
roboptim::trajectory::SplineLength::SplineLength
SplineLength(const CubicBSpline &spline, const size_type nDiscretizationPoints=100, boost::optional< interval_t > interval=boost::none)
Construct the function from a Spline and a definition interval.
Definition: spline-length.cc:71
roboptim::trajectory::StateFunction::~StateFunction
virtual ~StateFunction()
Definition: state-function.hxx:57
roboptim::trajectory::TrajectorySumCost::discreteInterval_t
parent_t::discreteInterval_t discreteInterval_t
Import discrete interval type.
Definition: trajectory-sum-cost.hh:67
roboptim::trajectory::TrajectorySumCost::trajectory_t
T trajectory_t
Trajectory type.
Definition: trajectory-sum-cost.hh:60
roboptim::trajectory::Polynomial::realRoots
roots_t realRoots(value_type epsilon=1e-6) const
Return the real roots of the polynomial.
Definition: polynomial.hxx:359
roboptim::trajectory::Polynomial::derivative
Polynomial< N-K > derivative() const
Compute the derivative polynomial of a given order.
Definition: polynomial.hxx:242
roboptim::trajectory::StablePointStateFunction::order
size_type order() const
Definition: stable-point-state-function.hxx:55
roboptim::trajectory::BSpline::~BSpline
virtual ~BSpline()
Virtual destructor.
Definition: b-spline.hh:118
roboptim::trajectory::Polynomial3
Polynomial< 3 > Polynomial3
Polynomial of degree at most 3.
Definition: polynomial-3.hh:33
roboptim::trajectory::StablePointStateFunction::impl_gradient
void impl_gradient(gradient_ref, const_argument_ref, size_type) const
Definition: stable-point-state-function.hxx:82
roboptim::trajectory::AnthropomorphicCostFunction::defaultKsi2
static value_type defaultKsi2()
Definition: anthropomorphic-cost-function.hh:64
roboptim::trajectory::TrajectorySumCost::gradient_t
parent_t::gradient_t gradient_t
Import gradient type.
Definition: trajectory-sum-cost.hh:65
ROBOPTIM_TRAJECTORY_DEPRECATED
#define ROBOPTIM_TRAJECTORY_DEPRECATED
Definition: deprecated.hh:42
roboptim::trajectory::VectorInterpolation::ROBOPTIM_IMPLEMENT_CLONE
ROBOPTIM_IMPLEMENT_CLONE(VectorInterpolation)
roboptim::trajectory::CubicBSpline::translateBasisPolynomials
void translateBasisPolynomials(double t1)
Translate the basis polynomials to a given time t1.
Definition: cubic-b-spline.cc:367
roboptim::trajectory::Polynomial::polynomialFunction_t
::roboptim::Polynomial< Function::traits_t > polynomialFunction_t
Polynomial function.
Definition: polynomial.hh:67
roboptim::trajectory::Trajectory::singularPoints
size_type singularPoints() const
Get number of singular points.
Definition: trajectory.hxx:140
roboptim::trajectory::LimitSpeed::impl_gradient
void impl_gradient(gradient_ref grad, const_argument_ref p, size_type i) const
Definition: limit-speed.hxx:92
roboptim::trajectory::TrajectoryCost::TrajectoryCost
TrajectoryCost(const trajectory_t &traj, std::string name=std::string())
Concret class should call this constructor.
Definition: trajectory-cost.hxx:26
roboptim::trajectory::TrajectorySumCost::impl_gradient
void impl_gradient(gradient_ref, const_argument_ref, size_type) const
Definition: trajectory-sum-cost.hxx:96
roboptim::trajectory::BSpline::knotVector
const vector_t & knotVector() const
Return the knot vector of the spline.
Definition: b-spline.hxx:642
roboptim::trajectory::CubicBSpline::setParameters
virtual void setParameters(const vector_t &)
Modify spline parameters.
Definition: cubic-b-spline.cc:186
roboptim::trajectory::CubicBSpline::freezeCurveEnd
void freezeCurveEnd(P &problem, size_type offset=0) const
Add a constraint to a problem in order to freeze the B-spline at its end.
Definition: cubic-b-spline.hxx:55
roboptim::trajectory::FreeTimeTrajectory::~FreeTimeTrajectory
virtual ~FreeTimeTrajectory()
Definition: free-time-trajectory.hxx:70
roboptim::trajectory::TrajectorySumCost
Trajectory cost function defined by sum of state evaluations at parameters.
Definition: trajectory-sum-cost.hh:54
roboptim::trajectory::Polynomial::ROBOPTIM_FUNCTION_FWD_TYPEDEFS_
ROBOPTIM_FUNCTION_FWD_TYPEDEFS_(Function)
roboptim::trajectory::LimitOmega::LimitOmega
LimitOmega(StableTimePoint timePoint, const T &trajectory)
Definition: limit-omega.hxx:35
trajectory-cost.hh
trajectory.hxx
roboptim::trajectory::BSpline::basisPolynomials
const basisPolynomialsVector_t & basisPolynomials() const
Constant getter for the basis polynomials of the B-spline.
Definition: b-spline.hh:172
roboptim::trajectory::ConstrainedBSpline::projector_offset_
vector_t projector_offset_
Result of: Constraints * X = Constraint values.
Definition: constrained-b-spline.hh:122
roboptim::trajectory::BSpline::impl_compute
void impl_compute(result_ref, value_type) const
Definition: b-spline.hxx:404
stable-point-state-function.hxx
roboptim::trajectory::makeFreeze
Freeze< P > makeFreeze(P &problem)
Definition: freeze.hh:82
roboptim::trajectory::FrontalSpeed::FrontalSpeed
FrontalSpeed()
Definition: frontal-speed.cc:28
deprecated.hh
roboptim::trajectory::FreeTimeTrajectory::resize
self_t * resize(interval_t) const
Clone and resize a trajectory.
Definition: free-time-trajectory.hh:116
roboptim::trajectory::Polynomial::isLinear
bool isLinear(value_type epsilon=Function::epsilon()) const
Return whether the polynomial is linear.
Definition: polynomial.hxx:521
roboptim::trajectory::FreeTimeTrajectory::ROBOPTIM_NTIMES_DERIVABLE_FUNCTION_FWD_TYPEDEFS_
ROBOPTIM_NTIMES_DERIVABLE_FUNCTION_FWD_TYPEDEFS_(Trajectory< T::derivabilityOrder >)
Parent type and imports.
roboptim::trajectory::Polynomial::max_t
std::pair< value_type, value_type > max_t
Type of a maximum query: (t_max, P(t_max))
Definition: polynomial.hh:61
roboptim::trajectory::Trajectory< N >::parameters
const vector_t & parameters() const
Definition: trajectory.hxx:49
constrained-b-spline.hh
roboptim::trajectory::Trajectory::timeRange_
interval_t timeRange_
Definition: trajectory/trajectory.hh:273
limit-speed.hxx
trajectory-sum-cost.hxx
roboptim::trajectory::FreeTimeTrajectory::print
virtual std::ostream & print(std::ostream &o) const
Display the function on the specified output stream.
Definition: free-time-trajectory.hxx:294
roboptim::trajectory::BSpline::computeBasisPolynomials
void computeBasisPolynomials()
Compute the basis polynomials.
Definition: b-spline.hxx:376
roboptim::trajectory::Polynomial::max
max_t max(const interval_t &interval, bool acceptConstant=true) const
Compute the maximum of the polynomial on an interval.
Definition: polynomial.hxx:476
roboptim::trajectory::BSpline::impl_derivative
void impl_derivative(derivative_ref g, value_type x, size_type order) const
Definition: b-spline.hxx:506
roboptim::trajectory::Trajectory
Abstract trajectory.
Definition: fwd.hh:30
roboptim::trajectory::Polynomial::critPoints
values_t critPoints(const interval_t &interval) const
Compute the critical values of the polynomial on an interval.
Definition: polynomial.hxx:408
roboptim::trajectory::ConstrainedBSpline::resize
virtual Trajectory< N > * resize(interval_t timeRange) const
Clone and resize a trajectory.
Definition: constrained-b-spline.hxx:175
roboptim::trajectory::SplineLength::~SplineLength
virtual ~SplineLength()
Definition: spline-length.cc:80
roboptim::trajectory::CubicBSpline::impl_compute
void impl_compute(result_ref, double) const
Definition: cubic-b-spline.cc:193
roboptim::trajectory::TrajectorySumCost::~TrajectorySumCost
virtual ~TrajectorySumCost()
Definition: trajectory-sum-cost.hxx:48
roboptim::trajectory::FreeTimeTrajectory
Decorate a trajectory to make time scalable.
Definition: free-time-trajectory.hh:39
roboptim::trajectory::Polynomial::order
static int order()
Return the order of such a polynomial.
Definition: polynomial.hh:237
roboptim::trajectory::CubicBSpline::derivAfterSingularPoint
virtual vector_t derivAfterSingularPoint(size_type rank, size_type order) const
Get right limit value of derivative at given singular point.
Definition: cubic-b-spline.cc:537
roboptim::trajectory::Trajectory::derivBeforeSingularPoint
virtual vector_t derivBeforeSingularPoint(size_type rank, size_type order) const =0
Get left limit value of derivative at given singular point.
roboptim::trajectory::StableTimePoint::value_type
Function::value_type value_type
Definition: stable-time-point.hh:34
roboptim::trajectory::CubicBSpline::computeBasisPolynomials
void computeBasisPolynomials()
Compute the basis polynomials for the cubic B-spline.
Definition: cubic-b-spline.cc:127
roboptim::trajectory::Trajectory::variationConfigWrtParam
virtual jacobian_t variationConfigWrtParam(double t) const =0
Get the variation of a configuration with respect to parameter vector.
roboptim::trajectory::CubicBSpline::freezeCurveStart
void freezeCurveStart(P &problem, size_type offset=0) const
Add a constraint to a problem in order to freeze the B-spline at its start.
Definition: cubic-b-spline.hxx:29
roboptim::trajectory::Trajectory::setParameters
virtual void setParameters(const vector_t &)
Set parameters.
Definition: trajectory.hxx:57
roboptim::trajectory::BSpline::derivative
BSpline< N > derivative() const
Compute the derivative of the B-spline for a given order.
Definition: b-spline.hxx:121
roboptim::trajectory::Monomial::parent_t
Polynomial< N > parent_t
Definition: polynomial.hh:318
roboptim::trajectory::Polynomial::operator[]
value_type operator[](int i) const
Get the i-th polynomial coefficient.
Definition: polynomial.hxx:351
roboptim::trajectory::StablePointStateFunction::StablePointStateFunction
StablePointStateFunction(const trajectory_t &gamma, boost::shared_ptr< DerivableFunction > cost, const StableTimePoint tpt, size_type order=1)
Constructor.
Definition: stable-point-state-function.hxx:31
roboptim::trajectory::Polynomial::operator()
value_type operator()(value_type t) const
Evaluate the polynomial with Horner's method.
Definition: polynomial.hxx:309
roboptim::trajectory::Trajectory::variationDerivWrtParam
virtual jacobian_t variationDerivWrtParam(double t, size_type order) const =0
Get the variation of a derivative with respect to parameter vector.
roboptim::trajectory::Polynomial::asFunction
polynomialFunction_t asFunction() const
Get the equivalent Polynomial function.
Definition: polynomial.hxx:544
roboptim::trajectory::VectorInterpolation::VectorInterpolation
VectorInterpolation(const_vector_ref x, size_type outputSize, value_type dt)
Vector interpolation constructor.
Definition: vector-interpolation.hxx:29
roboptim::trajectory::visualization::gnuplot::detail::PlotTrajectory::operator()
void operator()(const typename T::value_type) const
Definition: trajectory/visualization/trajectory.hh:65
roboptim::trajectory::detail::ComputeIntegral::operator()
void operator()(const double &t)
Definition: anthropomorphic-cost-function.hxx:76
roboptim::trajectory::BSpline::singularPointAtRank
virtual value_type singularPointAtRank(size_type rank) const
Get singular point at given rank.
Definition: b-spline.hxx:607
ROBOPTIM_IMPLEMENT_CLONE
#define ROBOPTIM_IMPLEMENT_CLONE(C)
Definition: trajectory/trajectory.hh:29
roboptim::trajectory::StableTimePoint::getTime
value_type getTime(Function::interval_t timeRange) const
Definition: stable-time-point.hh:47
freeze.hh
roboptim::trajectory::VectorInterpolation::ROBOPTIM_NTIMES_DERIVABLE_FUNCTION_FWD_TYPEDEFS
ROBOPTIM_NTIMES_DERIVABLE_FUNCTION_FWD_TYPEDEFS(Trajectory< 3 >)
roboptim::trajectory::ConstrainedBSpline
Constrained B-spline.
Definition: constrained-b-spline.hh:37
roboptim::trajectory::ConstrainedBSpline::interval_t
parent_t::interval_t interval_t
Definition: constrained-b-spline.hh:43
roboptim::trajectory::BSpline::polynomial_t
Polynomial< N > polynomial_t
Definition: b-spline.hh:51
speed.hh
roboptim::trajectory::LimitOmega::impl_compute
void impl_compute(result_ref res, const_argument_ref p) const
Definition: limit-omega.hxx:74
roboptim::trajectory::Trajectory::impl_derivative
virtual void impl_derivative(derivative_ref g, StableTimePoint, size_type order) const =0
roboptim::trajectory::Polynomial::Polynomial
Polynomial()
Default constructor: return a null polynomial.
Definition: polynomial.hxx:37
roboptim::trajectory::Trajectory::clone
virtual Trajectory< DerivabilityOrder > * clone() const =0
roboptim::trajectory::CubicBSpline::toPolynomials
void toPolynomials(polynomials3vector_t &res) const
Return the polynomial expression of the cubic B-spline on each time interval.
Definition: cubic-b-spline.cc:381
roboptim::trajectory::AnthropomorphicCostFunction
Cost function from `‘An optimal control model unifying holonomic and nonholonomic walking’' Katja Mom...
Definition: anthropomorphic-cost-function.hh:37
roboptim::trajectory::CubicBSpline::getNumberControlPoints
size_type getNumberControlPoints() const
Get the number of control points of the spline.
Definition: cubic-b-spline.hh:162
roboptim::trajectory::CubicBSpline::derivBeforeSingularPoint
virtual vector_t derivBeforeSingularPoint(size_type rank, size_type order) const
Get left limit value of derivative at given singular point.
Definition: cubic-b-spline.cc:531
vector-interpolation.hh
roboptim::trajectory::tMax
static const TMax tMax
Definition: stable-time-point.hh:29
roboptim::trajectory::StablePointStateFunction::trajectory_t
T trajectory_t
Trajectory type.
Definition: stable-point-state-function.hh:65
roboptim::trajectory::FreeTimeTrajectory::derivBeforeSingularPoint
virtual vector_t derivBeforeSingularPoint(size_type rank, size_type order) const
Get left limit value of derivative at given singular point.
Definition: free-time-trajectory.hxx:215
roboptim::trajectory::Polynomial::coefs_t
Eigen::Matrix< value_type, N+1, 1 > coefs_t
Fixed-size coefficient vector (N+1 if N is the polynomial degree).
Definition: polynomial.hh:55
b-spline.hxx
roboptim::trajectory::AnthropomorphicCostFunction::impl_compute
void impl_compute(result_ref res, const_argument_ref p) const
Definition: anthropomorphic-cost-function.hxx:102
roboptim::trajectory::TrajectoryCost::trajectory_t
T trajectory_t
Trajectory type.
Definition: trajectory-cost.hh:45
stable-time-point.hh
roboptim::trajectory::FrontalSpeed
Definition: frontal-speed.hh:28
roboptim::trajectory::Polynomial::isNull
bool isNull(value_type epsilon=Function::epsilon()) const
Return whether the polynomial is null.
Definition: polynomial.hxx:503
roboptim::trajectory::BSpline::ROBOPTIM_NTIMES_DERIVABLE_FUNCTION_FWD_TYPEDEFS_
ROBOPTIM_NTIMES_DERIVABLE_FUNCTION_FWD_TYPEDEFS_(Trajectory< N >)
Parent type and imports.
roboptim::trajectory::Polynomial::order_
static const int order_
order of the polynomial.
Definition: polynomial.hh:278
roboptim::trajectory::Polynomial::all_zero_coefficients
@ all_zero_coefficients
Null polynomial: 0.
Definition: polynomial.hh:284
roboptim::trajectory::detail::fixTime
double fixTime(double t, const T &trajectory)
Definition: trajectory/trajectory.hh:45
roboptim::trajectory::BSpline::basisPolynomials_t
std::vector< polynomial_t, Eigen::aligned_allocator< polynomial_t > > basisPolynomials_t
Definition: b-spline.hh:64
roboptim::trajectory::Polynomial::operator-
Polynomial< N > operator-(const Polynomial< N > &poly) const
Subtraction of polynomials.
Definition: polynomial.hxx:282
roboptim::trajectory::OrthogonalSpeed::~OrthogonalSpeed
~OrthogonalSpeed()
Definition: orthogonal-speed.cc:31
roboptim::trajectory::CubicBSpline
Cubic B-Spline trajectory.
Definition: cubic-b-spline.hh:38
roboptim::trajectory::FreeTimeTrajectory::variationConfigWrtParam
virtual jacobian_t variationConfigWrtParam(double t) const
Get the variation of a configuration with respect to parameter vector.
Definition: free-time-trajectory.hxx:107
roboptim::trajectory::FreeTimeTrajectory::singularPointAtRank
virtual value_type singularPointAtRank(size_type rank) const
Get singular point at given rank.
Definition: free-time-trajectory.hxx:206
roboptim::trajectory::BSpline::resize
virtual Trajectory< N > * resize(interval_t timeRange) const
Clone and resize a trajectory.
Definition: b-spline.hxx:141
roboptim::trajectory::CubicBSpline::~CubicBSpline
virtual ~CubicBSpline()
Definition: cubic-b-spline.cc:181
roboptim::trajectory::Trajectory::variationStateWrtParam
jacobian_t variationStateWrtParam(double t, size_type order) const
Get the variation of the state with respect to parameter vector.
Definition: trajectory.hxx:108
roboptim::trajectory::visualization::gnuplot::plot_xy
Command plot_xy(const Trajectory< N > &traj, typename Trajectory< N >::value_type step=.01)
Plot a 2D trajectory with Gnuplot.
Definition: trajectory/visualization/trajectory.hh:75
roboptim::trajectory::ConstrainedBSpline::addCoupledConstraint
void addCoupledConstraint(value_type t_1, size_type dimension_1, value_type t_2, size_type dimension_2, size_type derivative=0, value_type factor=1.)
Create a constraint against another part of the spline.
Definition: constrained-b-spline.hxx:93
roboptim::trajectory::Polynomial::isConstant
bool isConstant(value_type epsilon=Function::epsilon()) const
Return whether the polynomial is constant.
Definition: polynomial.hxx:510
roboptim::trajectory::CubicBSpline::variationConfigWrtParam
virtual jacobian_t variationConfigWrtParam(double t) const
Get the variation of a configuration with respect to parameter vector.
Definition: cubic-b-spline.cc:471
roboptim::trajectory::Freeze::Freeze
Freeze(problem_t &problem)
Create the constraint from a vector of pairs.
Definition: freeze.hxx:27
anthropomorphic-cost-function.hxx
roboptim::trajectory::FreeTimeTrajectory::scaleTime
double scaleTime(double t) const
Scale input time argument.
Definition: free-time-trajectory.hxx:254
roboptim::trajectory::Polynomial::operator+=
void operator+=(const Polynomial< N > &poly)
Addition of polynomials.
Definition: polynomial.hxx:302
roboptim::trajectory::Trajectory< 3 >::tolerance
double tolerance() const
Get tolerance for inclusion of parameter in interval of definition.
Definition: trajectory.hxx:193
roboptim::trajectory::visualization::gnuplot::detail::PlotLimitSpeed
Definition: visualization/limit-speed.hh:51
roboptim::trajectory::ConstrainedBSpline::setParameters
void setParameters(const vector_t &)
Overloaded setParameters method from Trajectory<N>.
Definition: constrained-b-spline.hxx:138
roboptim::trajectory::FreeTimeTrajectory::derivAfterSingularPoint
virtual vector_t derivAfterSingularPoint(size_type rank, size_type order) const
Get right limit value of derivative at given singular point.
Definition: free-time-trajectory.hxx:224
roboptim::trajectory::CubicBSpline::operator+
CubicBSpline operator+(const CubicBSpline &s) const
Add two cubic B-splines, supposing they have the same dimensions.
Definition: cubic-b-spline.cc:430
roboptim::trajectory::TrajectorySumCost::vector_t
parent_t::vector_t vector_t
Import vector type.
Definition: trajectory-sum-cost.hh:63
roboptim::trajectory::TrajectoryCost::~TrajectoryCost
virtual ~TrajectoryCost()
Definition: trajectory-cost.hxx:34
roboptim::trajectory::Trajectory::resize
virtual Trajectory< DerivabilityOrder > * resize(interval_t timeRange) const =0
Clone and resize a trajectory.
roboptim::trajectory::Trajectory::state
virtual vector_t state(double t, size_type order) const
Get state along trajectory.
Definition: trajectory.hxx:80
roboptim::trajectory::visualization::gnuplot::detail::PlotTrajectory::PlotTrajectory
PlotTrajectory(const T &traj, std::string &str)
Definition: trajectory/visualization/trajectory.hh:60
roboptim::trajectory::Polynomial::operator+
Polynomial< N > operator+(const Polynomial< N > &poly) const
Addition of polynomials.
Definition: polynomial.hxx:275
roboptim::trajectory::BSpline::order_
static const size_type order_
Order of the B-Spline.
Definition: b-spline.hh:226
roboptim::trajectory::BSpline::cox_map
std::map< int, polynomial_t, std::less< int >, Eigen::aligned_allocator< std::pair< const int, polynomial_t > > > cox_map
Definition: b-spline.hh:58
roboptim::trajectory::visualization::gnuplot::plot_xytheta
Command plot_xytheta(const T &traj, typename T::value_type step=.01)
Definition: trajectory/visualization/trajectory.hh:106
roboptim::trajectory::TrajectorySumCost::order
size_type order() const
Definition: trajectory-sum-cost.hxx:54
roboptim::trajectory::BSpline::BSpline
BSpline(const interval_t &timeRange, size_type dimension, const vector_t &parameters, const std::string name="B-Spline", bool clamped=false)
Instantiate a B-Spline from its definition.
Definition: b-spline.hxx:31
roboptim::trajectory::StableTimePoint::StableTimePoint
StableTimePoint(value_type alpha)
Definition: stable-time-point.hh:36
roboptim::trajectory::BSpline
Definition: b-spline.hh:42
roboptim::trajectory::Polynomial::trueOrder
int trueOrder(value_type epsilon=Function::epsilon()) const
Return the "true" order of the polynomial.
Definition: polynomial.hxx:532
roboptim::trajectory::SplineLength::impl_gradient
void impl_gradient(gradient_ref, const_argument_ref, size_type) const
Definition: spline-length.cc:111
roboptim::trajectory::LimitSpeed::addToProblem
static void addToProblem(const T &, Problem< F, CLIST > &, typename Function::interval_t, unsigned)
Definition: limit-speed.hxx:115
roboptim::trajectory::Trajectory< 3 >::derivative
derivative_t derivative(StableTimePoint argument, size_type order=1) const
Definition: trajectory/trajectory.hh:209
free-time-trajectory.hh
roboptim::trajectory::Trajectory< 3 >::interval_t
parent_t::interval_t interval_t
Import interval type.
Definition: trajectory/trajectory.hh:89
roboptim::trajectory::visualization::gnuplot::detail::PlotTrajectory
Definition: trajectory/visualization/trajectory.hh:58
roboptim::trajectory::FreeTimeTrajectory::setParameters
virtual void setParameters(const vector_t &)
Set parameters.
Definition: free-time-trajectory.hxx:232
roboptim::trajectory::Trajectory::derivative
void derivative(derivative_ref derivative, StableTimePoint argument, size_type order=1) const
Definition: trajectory/trajectory.hh:217
roboptim::trajectory::Monomial::Monomial
Monomial(value_type t0)
Constructor of a monomial: (t-t₀)
Definition: polynomial.hh:325
ONLY_DEBUG
#define ONLY_DEBUG(x)
Definition: debug.hh:25
roboptim::trajectory::StateFunction::trajectory_t
T trajectory_t
Trajectory type.
Definition: state-function.hh:66
roboptim::trajectory::ConstrainedBSpline::addFixedConstraint
void addFixedConstraint(double t, size_type dimension, value_type value, size_type derivative=0)
Creates a constraint on the basic spline.
Definition: constrained-b-spline.hxx:61
roboptim::trajectory::VectorInterpolation::trim
boost::shared_ptr< VectorInterpolation > trim(size_type start, size_type length) const
Instantiate a trajectory corresponding to a sub-part of this trajectory.
Definition: vector-interpolation.hxx:62
roboptim::trajectory::BSpline::derivBeforeSingularPoint
virtual vector_t derivBeforeSingularPoint(size_type rank, size_type order) const
Get left limit value of derivative at given singular point.
Definition: b-spline.hxx:614
roboptim::trajectory::CubicBSpline::singularPointAtRank
virtual value_type singularPointAtRank(size_type rank) const
Get singular point at given rank.
Definition: cubic-b-spline.cc:525
roboptim::trajectory::VectorInterpolation::variationDerivWrtParam
jacobian_t variationDerivWrtParam(double t, size_type order) const
Get the variation of a derivative with respect to parameter vector.
Definition: vector-interpolation.hxx:143
roboptim::trajectory::Freeze::problem_t
P problem_t
Problem type.
Definition: freeze.hh:51
roboptim::trajectory::CubicBSpline::CubicBSpline
CubicBSpline(interval_t timeRange, size_type dimension, const vector_t &parameters, const std::string name="cubic B-Spline", bool clamped=false)
Instantiate a uniform cubic B-Spline from its definition.
Definition: cubic-b-spline.cc:35
roboptim::trajectory::detail::unscaleInterval
Function::interval_t unscaleInterval(const Trajectory< dorder > &traj, typename Function::value_type scale)
Definition: free-time-trajectory.hxx:39
roboptim::trajectory::StateFunction::addToProblem
static void addToProblem(const trajectory_t &trajectory, boost::shared_ptr< DerivableFunction > function, unsigned order, Problem< F, CLIST > &problem, typename Function::interval_t bounds, unsigned nConstraints)
Definition: state-function.hh:85
roboptim::trajectory::Monomial
Monomial.
Definition: polynomial.hh:316
cubic-b-spline.hxx
roboptim::trajectory::TrajectorySumCost::TrajectorySumCost
TrajectorySumCost(const trajectory_t &gamma, boost::shared_ptr< DerivableFunction > cost, const discreteStableTimePointInterval_t &interval, size_type order=1)
Constructor.
Definition: trajectory-sum-cost.hxx:31
roboptim::trajectory::StateFunction::impl_gradient
void impl_gradient(gradient_ref, const_argument_ref, size_type) const
Definition: state-function.hxx:90
polynomial.hh
roboptim::trajectory::Polynomial::impl_translate
coefs_t impl_translate(value_type t1) const
Definition: polynomial.hxx:204
roboptim::trajectory::detail::getLimitSpeedName
std::string getLimitSpeedName(const StableTimePoint &timePoint)
Definition: limit-speed.hxx:38
roboptim::trajectory::Freeze::frozenArguments_t
std::vector< frozenArgument_t > frozenArguments_t
Vector of pairs (argument index, value).
Definition: freeze.hh:57
roboptim::trajectory::FreeTimeTrajectory::timeScale
value_type timeScale() const
Get time scale factor.
Definition: free-time-trajectory.hxx:247
roboptim::trajectory::BSpline::print
virtual std::ostream & print(std::ostream &o) const
Display the function on the specified output stream.
Definition: b-spline.hxx:627
roboptim::trajectory::VectorInterpolation::numFrames
size_type numFrames() const
Definition: vector-interpolation.hxx:54
roboptim::trajectory::ConstrainedBSpline::variationDerivWrtParam
jacobian_t variationDerivWrtParam(double t, size_type order) const
Get the variation of a derivative with respect to parameter vector.
Definition: constrained-b-spline.hxx:197
roboptim::trajectory::VectorInterpolation
Takes a vector or argument and differentiate it.
Definition: vector-interpolation.hh:43
roboptim::trajectory::TrajectoryCost< CubicBSpline >::trajectory_
const trajectory_t & trajectory_
Input trajectory.
Definition: trajectory-cost.hh:56
limit-speed.hh
roboptim::trajectory::VectorInterpolation::variationConfigWrtParam
jacobian_t variationConfigWrtParam(double t) const
Get the variation of a configuration with respect to parameter vector.
Definition: vector-interpolation.hxx:136
roboptim::trajectory::Freeze::~Freeze
virtual ~Freeze()
Definition: freeze.hxx:33
roboptim::trajectory::ConstrainedBSpline::projector_
matrix_t projector_
Projector matrix.
Definition: constrained-b-spline.hh:119
roboptim::trajectory::CubicBSpline::basisPolynomials
const polynomials3vectors_t & basisPolynomials() const
Constant getter for the basis polynomials of the cubic B-spline.
Definition: cubic-b-spline.hh:150
roboptim::trajectory::BSpline::interval
size_type interval(value_type t) const
Definition: b-spline.hxx:421
roboptim::trajectory::BSpline::basisFunctions
vector_t basisFunctions(value_type t, size_type order) const ROBOPTIM_TRAJECTORY_DEPRECATED
Definition: b-spline.hxx:490
trajectory.hh
roboptim::trajectory::CubicBSpline::impl_derivative
void impl_derivative(derivative_ref g, double x, size_type order) const
Definition: cubic-b-spline.cc:331
roboptim::trajectory::ConstrainedBSpline::~ConstrainedBSpline
virtual ~ConstrainedBSpline()
Destructor of constrained B-spline.
Definition: constrained-b-spline.hxx:58
roboptim::trajectory::Trajectory::singularPointAtRank
virtual value_type singularPointAtRank(size_type rank) const =0
Get singular point at given rank.
roboptim::trajectory::OrthogonalSpeed::OrthogonalSpeed
OrthogonalSpeed()
Definition: orthogonal-speed.cc:27
roboptim::trajectory::visualization::gnuplot::detail::PlotLimitSpeed::operator()
void operator()(const Function::value_type &t)
Definition: visualization/limit-speed.hh:58
roboptim::trajectory::CubicBSpline::operator+=
void operator+=(const CubicBSpline &s)
Add a second B-spline to this B-spline.
Definition: cubic-b-spline.cc:447
roboptim::trajectory::FreeTimeTrajectory::normalizeAngles
virtual void normalizeAngles(size_type index)
Normalize angles in parameters array.
Definition: free-time-trajectory.hxx:302
roboptim::trajectory::StablePointStateFunction::impl_compute
void impl_compute(result_ref, const_argument_ref) const
Definition: stable-point-state-function.hxx:62
roboptim::trajectory::FreeTimeTrajectory::fixedTimeTrajectory_t
T fixedTimeTrajectory_t
Fixed point trajectory type.
Definition: free-time-trajectory.hh:50
roboptim::trajectory::Trajectory< N >::parameters_
vector_t parameters_
Definition: trajectory/trajectory.hh:274
roboptim::trajectory::BSpline::UNINITIALIZED
@ UNINITIALIZED
Do not generate basis functions or knot vector automatically.
Definition: b-spline.hh:188
roboptim::trajectory::TrajectoryCost
Meta-function for trajectory cost.
Definition: fwd.hh:39
roboptim::trajectory::CubicBSpline::resize
virtual Trajectory< derivabilityOrder > * resize(interval_t timeRange) const
Clone and resize a trajectory.
Definition: cubic-b-spline.hh:96
roboptim::trajectory::VectorInterpolation::impl_compute
void impl_compute(result_ref result, double t) const
Definition: vector-interpolation.hxx:86
roboptim::trajectory::Trajectory::singularPoints_
size_type singularPoints_
Definition: trajectory/trajectory.hh:275
roboptim::trajectory::StateFunction::order
size_type order() const
Definition: state-function.hxx:63
roboptim::trajectory::CubicBSpline::knotVector
const knots_t & knotVector() const
Return the knot vector of the spline.
Definition: cubic-b-spline.hh:169
roboptim::trajectory::BSpline::Dt
value_type Dt() const ROBOPTIM_TRAJECTORY_DEPRECATED
Definition: b-spline.hxx:413
roboptim::trajectory::FreeTimeTrajectory::self_t
FreeTimeTrajectory< T > self_t
Self type.
Definition: free-time-trajectory.hh:52
roboptim::trajectory::LimitSpeed::LimitSpeed
LimitSpeed(StableTimePoint timePoint, const T &spline)
Definition: limit-speed.hxx:47
roboptim::trajectory::AnthropomorphicCostFunction::impl_gradient
void impl_gradient(gradient_ref grad, const_argument_ref p, size_type i) const
Definition: anthropomorphic-cost-function.hxx:129
roboptim::trajectory::Polynomial::impl_derivative
Polynomial< N-K > impl_derivative() const
Implementation of the compile-time derivative.
Definition: polynomial.hxx:140
fwd.hh
roboptim::trajectory::Trajectory::impl_compute
void impl_compute(result_ref, StableTimePoint) const
Definition: trajectory.hxx:148
roboptim::trajectory::Polynomial::print
virtual std::ostream & print(std::ostream &o) const
Print the polynomial.
Definition: polynomial.hxx:87
state-function.hxx
roboptim::trajectory::BSpline::setParameters
virtual void setParameters(const vector_t &)
Modify spline parameters.
Definition: b-spline.hxx:397
roboptim::trajectory::CubicBSpline::interval
size_type interval(value_type t) const
Find the index of the interval in which t is.
Definition: cubic-b-spline.cc:208
roboptim::trajectory::LimitSpeed::trajectory
const T & trajectory() const
Definition: limit-speed.hxx:61
roboptim::trajectory::CubicBSpline::knots_t
std::vector< value_type > knots_t
Definition: cubic-b-spline.hh:47
roboptim::trajectory::Polynomial::BOOST_STATIC_ASSERT
BOOST_STATIC_ASSERT(N >=0)
Polynomial degree >= 0.
roboptim::trajectory::FrontalSpeed::impl_gradient
void impl_gradient(gradient_ref grad, const_argument_ref t, size_type i) const
Definition: frontal-speed.cc:49
free-time-trajectory.hxx
roboptim::trajectory::BSpline::deriveBasisPolynomials
basisPolynomialsVector_t deriveBasisPolynomials() const
Derive basis polynomials, but express the result as polynomials of BSpline<N> instead of BSpline<N-M>...
Definition: b-spline.hxx:196
roboptim::trajectory::FrontalSpeed::impl_compute
void impl_compute(result_ref res, const_argument_ref t) const
Definition: frontal-speed.cc:38
stable-point-state-function.hh
roboptim::trajectory::TrajectorySumCost::getStep
static StableTimePoint getStep(const discreteStableTimePointInterval_t &interval)
Get the upper step of a discrete interval.
Definition: trajectory-sum-cost.hh:135
roboptim::trajectory::TrajectorySumCost::impl_compute
void impl_compute(result_ref, const_argument_ref) const
Definition: trajectory-sum-cost.hxx:61
constrained-b-spline.hxx
roboptim::trajectory::Polynomial::values_t
std::vector< value_type > values_t
Type of the critical points.
Definition: polynomial.hh:58
roboptim::trajectory::CubicBSpline::polynomials3vector_t
std::vector< Polynomial3, Eigen::aligned_allocator< Polynomial3 > > polynomials3vector_t
Definition: cubic-b-spline.hh:43
roboptim::trajectory::OrthogonalSpeed::impl_gradient
void impl_gradient(gradient_ref grad, const_argument_ref p, size_type i) const
Definition: orthogonal-speed.cc:46
orthogonal-speed.hh
roboptim::trajectory::Freeze::frozenArgument_t
std::pair< Function::size_type, Function::value_type > frozenArgument_t
Pair representing an argument index and a value.
Definition: freeze.hh:48
roboptim::trajectory::TrajectorySumCost::makeDiscreteInterval
static discreteStableTimePointInterval_t makeDiscreteInterval(interval_t interval, StableTimePoint step)
Construct a discrete interval.
Definition: trajectory-sum-cost.hh:101
roboptim::trajectory::SplineLength::impl_compute
void impl_compute(result_ref, const_argument_ref) const
Definition: spline-length.cc:85
roboptim::trajectory::vectorInterpolation
boost::shared_ptr< VectorInterpolation > vectorInterpolation(VectorInterpolation::vector_t x, VectorInterpolation::size_type outputSize, VectorInterpolation::value_type dt=1.)
Definition: vector-interpolation.hh:107
roboptim::trajectory::Polynomial::min
min_t min(const interval_t &interval, bool acceptConstant=true) const
Compute the minimum of the polynomial on an interval.
Definition: polynomial.hxx:448
limit-omega.hh
roboptim::trajectory::Trajectory::ROBOPTIM_NTIMES_DERIVABLE_FUNCTION_FWD_TYPEDEFS_
ROBOPTIM_NTIMES_DERIVABLE_FUNCTION_FWD_TYPEDEFS_(NTimesDerivableFunction< DerivabilityOrder >)
Parent type and imports.
roboptim::trajectory::AnthropomorphicCostFunction::defaultKsi1
static value_type defaultKsi1()
Definition: anthropomorphic-cost-function.hh:59
roboptim::trajectory::ConstrainedBSpline::ROBOPTIM_NTIMES_DERIVABLE_FUNCTION_FWD_TYPEDEFS_
ROBOPTIM_NTIMES_DERIVABLE_FUNCTION_FWD_TYPEDEFS_(BSpline< N >)
Parent type and imports.
roboptim::trajectory::visualization::matplotlib::plot_spline
Command plot_spline(const BSpline< N > &spline, typename BSpline< N >::value_type step)
Definition: b-spline-matplotlib.hh:41
roboptim::trajectory::StablePointStateFunction::addToProblem
static void addToProblem(const trajectory_t &trajectory, boost::shared_ptr< DerivableFunction > function, unsigned order, Problem< F, CLIST > &problem, typename Function::interval_t bounds, unsigned nConstraints)
Definition: stable-point-state-function.hh:83
roboptim::trajectory::Trajectory::~Trajectory
virtual ~Trajectory()
Definition: trajectory.hxx:42
roboptim::trajectory::StableTimePoint
Definition: stable-time-point.hh:31
roboptim::trajectory::ConstrainedBSpline::ConstrainedBSpline
ConstrainedBSpline(interval_t timeRange, size_type dimension, const vector_t &parameters, const std::string name="Constrained B-Spline")
see B-Spline constructors for documentation
Definition: constrained-b-spline.hxx:31
roboptim::trajectory::BSpline::NORMAL
@ NORMAL
Automatically generate basis functions and knot vector.
Definition: b-spline.hh:185
roboptim::trajectory
Definition: anthropomorphic-cost-function.hh:30
roboptim::trajectory::Trajectory::derivAfterSingularPoint
virtual vector_t derivAfterSingularPoint(size_type rank, size_type order) const =0
Get right limit value of derivative at given singular point.
roboptim::trajectory::Polynomial::translate
Polynomial< N > translate(value_type t1) const
Return a new polynomial translated from (t-t₀) to (t-t₁).
Definition: polynomial.hxx:228
roboptim::trajectory::TrajectorySumCost::makeDiscreteInterval
static discreteStableTimePointInterval_t makeDiscreteInterval(StableTimePoint min, StableTimePoint max, StableTimePoint step)
Construct a discrete interval.
Definition: trajectory-sum-cost.hh:89
roboptim::trajectory::Monomial::value_type
parent_t::value_type value_type
Definition: polynomial.hh:319
roboptim::trajectory::visualization::gnuplot::Command
roboptim::visualization::gnuplot::Command Command
Definition: visualization/limit-speed.hh:37
roboptim::trajectory::BSpline::cox_de_boor
cox_map cox_de_boor(size_type j, size_type n) const
Generate base polynomial set For the basic spline formula noted in the pdf from the docs section,...
Definition: b-spline.hxx:219
roboptim::trajectory::FreeTimeTrajectory::makeFixedTimeTrajectory
fixedTimeTrajectory_t * makeFixedTimeTrajectory() const
Definition: free-time-trajectory.hh:137
roboptim::trajectory::ConstrainedBSpline::tunables_
vector_t tunables_
Tunable parameters, i.e. the free parameters.
Definition: constrained-b-spline.hh:116
roboptim::trajectory::ConstrainedBSpline::constraint_values_
vector_t constraint_values_
Constraint values.
Definition: constrained-b-spline.hh:113
roboptim::trajectory::VectorInterpolation::derivAfterSingularPoint
vector_t derivAfterSingularPoint(size_type rank, size_type order) const
Get right limit value of derivative at given singular point.
Definition: vector-interpolation.hxx:210
roboptim::trajectory::LimitSpeed::~LimitSpeed
~LimitSpeed()
Definition: limit-speed.hxx:56
roboptim::trajectory::Polynomial::min_t
std::pair< value_type, value_type > min_t
Type of a minimum query: (t_min, P(t_min))
Definition: polynomial.hh:64
roboptim::trajectory::TrajectorySumCost::getUpperBound
static StableTimePoint getUpperBound(const discreteStableTimePointInterval_t &interval)
Get the upper bound of a discrete interval.
Definition: trajectory-sum-cost.hh:125
roboptim::trajectory::visualization::gnuplot::detail::PlotLimitSpeed::PlotLimitSpeed
PlotLimitSpeed(const T &trajectory, std::string &str)
Definition: visualization/limit-speed.hh:53
roboptim::trajectory::LimitOmega::impl_gradient
void impl_gradient(gradient_ref grad, const_argument_ref p, size_type i) const
Definition: limit-omega.hxx:93
roboptim::trajectory::Trajectory< 3 >::length
value_type length() const
Definition: trajectory.hxx:72
roboptim::trajectory::FreeTimeTrajectory::FreeTimeTrajectory
FreeTimeTrajectory(const fixedTimeTrajectory_t &traj, value_type s)
Constructor with fixed definition interval trajectory.
Definition: free-time-trajectory.hxx:52
roboptim::trajectory::FreeTimeTrajectory::unscaleTime
double unscaleTime(double t) const
Definition: free-time-trajectory.hxx:274
roboptim::trajectory::addScaleToParameters
Function::vector_t addScaleToParameters(Function::const_vector_ref p, Function::value_type t=1.)
Definition: free-time-trajectory.hh:183
roboptim::trajectory::TrajectorySumCost::discreteStableTimePointInterval_t
boost::tuple< StableTimePoint, StableTimePoint, StableTimePoint > discreteStableTimePointInterval_t
Types representing a discrete interval of stable time points.
Definition: trajectory-sum-cost.hh:80
roboptim::trajectory::Polynomial::coefs
const coefs_t & coefs() const
Const getter to coefs.
Definition: polynomial.hxx:337
roboptim::trajectory::BSpline::derivAfterSingularPoint
virtual vector_t derivAfterSingularPoint(size_type rank, size_type order) const
Get right limit value of derivative at given singular point.
Definition: b-spline.hxx:621
trajectory-cost.hxx
roboptim::trajectory::operator<<
std::ostream & operator<<(std::ostream &stream, const Polynomial< N > &p)
Print a polynomial to a given output stream.
Definition: polynomial.hxx:132
roboptim::trajectory::VectorInterpolation::resize
Trajectory< 3 > * resize(interval_t timeRange) const
Clone and resize a trajectory.
Definition: vector-interpolation.hxx:284
roboptim::trajectory::StablePointStateFunction
Trajectory cost function defined by state evaluation at parameter.
Definition: stable-point-state-function.hh:58
roboptim::trajectory::FreeTimeTrajectory::impl_compute
void impl_compute(result_ref, double) const
Definition: free-time-trajectory.hxx:77
roboptim::trajectory::StateFunction::impl_compute
void impl_compute(result_ref, const_argument_ref) const
Definition: state-function.hxx:70
roboptim::trajectory::BSpline::variationDerivWrtParam
virtual jacobian_t variationDerivWrtParam(value_type t, size_type order) const
Definition: b-spline.hxx:562
roboptim::trajectory::FreeTimeTrajectory::getFixedTimeTrajectory
const fixedTimeTrajectory_t & getFixedTimeTrajectory() const
Definition: free-time-trajectory.hh:109
freeze.hxx
roboptim::trajectory::StablePointStateFunction::~StablePointStateFunction
virtual ~StablePointStateFunction()
Definition: stable-point-state-function.hxx:49
roboptim::trajectory::BSpline::ConstructionMode
ConstructionMode
Enum for special constructors.
Definition: b-spline.hh:182
roboptim::trajectory::Polynomial::operator*
Polynomial< N+M > operator*(const Polynomial< M > &poly) const
Multiply polynomials of different orders.
Definition: polynomial.hxx:256
roboptim::trajectory::BSpline::toPolynomials
void toPolynomials(basisPolynomials_t &res) const
Return the polynomial expression of the B-spline on each time interval.
Definition: b-spline.hxx:335
roboptim::trajectory::TrajectorySumCost::getLowerBound
static StableTimePoint getLowerBound(const discreteStableTimePointInterval_t &interval)
Get the lower bound of a discrete interval.
Definition: trajectory-sum-cost.hh:115
roboptim::trajectory::Polynomial
Polynomial of degree at most N (N >= 0).
Definition: polynomial.hh:40
roboptim::trajectory::StableTimePoint::getAlpha
const value_type & getAlpha() const
Definition: stable-time-point.hh:42
polynomial.hxx
roboptim::trajectory::Trajectory::Trajectory
Trajectory(interval_t, size_type, const vector_t &, std::string name=std::string())
Definition: trajectory.hxx:26
roboptim::trajectory::removeScaleFromParameters
Function::vector_t removeScaleFromParameters(Function::const_vector_ref v)
Definition: free-time-trajectory.hh:194
roboptim::trajectory::VectorInterpolation::impl_derivative
void impl_derivative(derivative_ref derivative, double argument, size_type order=1) const
Definition: vector-interpolation.hxx:237
roboptim::trajectory::BSpline::basisPolynomialsVector_t
std::vector< basisPolynomials_t > basisPolynomialsVector_t
Definition: b-spline.hh:66
roboptim::trajectory::AnthropomorphicCostFunction::AnthropomorphicCostFunction
AnthropomorphicCostFunction(const T &trajectory, const typename boost::optional< vector_t > alpha=typename boost::optional< vector_t >(), const typename boost::optional< value_type > ksi1=typename boost::optional< value_type >(), const typename boost::optional< value_type > ksi2=typename boost::optional< value_type >())
Definition: anthropomorphic-cost-function.hxx:32
roboptim::trajectory::Trajectory< N >::timeRange
interval_t timeRange() const
Definition: trajectory.hxx:65
roboptim::trajectory::LimitOmega::~LimitOmega
~LimitOmega()
Definition: limit-omega.hxx:45
roboptim::trajectory::TMax
Definition: stable-time-point.hh:28
roboptim::trajectory::LimitSpeed::impl_compute
void impl_compute(result_ref res, const_argument_ref p) const
Definition: limit-speed.hxx:68
roboptim::trajectory::BSpline::cox_map_itr_t
cox_map::iterator cox_map_itr_t
Definition: b-spline.hh:59
roboptim::trajectory::VectorInterpolation::~VectorInterpolation
~VectorInterpolation()
Definition: vector-interpolation.hxx:41
roboptim::trajectory::AnthropomorphicCostFunction::~AnthropomorphicCostFunction
~AnthropomorphicCostFunction()
Definition: anthropomorphic-cost-function.hxx:58
roboptim::trajectory::Polynomial::special_polynomials
special_polynomials
Enum for special polynomials.
Definition: polynomial.hh:281
trajectory.hh
cubic-b-spline.hh
roboptim::trajectory::VectorInterpolation::derivBeforeSingularPoint
vector_t derivBeforeSingularPoint(size_type rank, size_type order) const
Get left limit value of derivative at given singular point.
Definition: vector-interpolation.hxx:198
roboptim::trajectory::CubicBSpline::polynomials3vectors_t
std::vector< polynomials3vector_t > polynomials3vectors_t
Definition: cubic-b-spline.hh:45
polynomial-3.hh
roboptim::trajectory::LimitSpeed
Definition: limit-speed.hh:33
roboptim::trajectory::FreeTimeTrajectory::variationDerivWrtParam
virtual jacobian_t variationDerivWrtParam(double t, size_type order) const
Get the variation of a derivative with respect to parameter vector.
Definition: free-time-trajectory.hxx:129
roboptim::trajectory::FreeTimeTrajectory::interval_t
parent_t::interval_t interval_t
Import interval type.
Definition: free-time-trajectory.hh:56
roboptim::trajectory::Polynomial::interval_t
Function::interval_t interval_t
Definition: polynomial.hh:45
roboptim::trajectory::CubicBSpline::variationDerivWrtParam
virtual jacobian_t variationDerivWrtParam(double t, size_type order) const
Get the variation of a derivative with respect to parameter vector.
Definition: cubic-b-spline.cc:477
roboptim::trajectory::BSpline::initializeKnots
void initializeKnots(bool clamped)
Initialize the knot vector.
Definition: b-spline.hxx:152
limit-omega.hxx
roboptim::trajectory::Polynomial::roots_t
std::vector< value_type > roots_t
Type of the vector of roots.
Definition: polynomial.hh:51
roboptim::trajectory::LimitOmega::addToProblem
static void addToProblem(const T &trajectory, Problem< F, CLIST > &problem, typename Function::interval_t vRange, unsigned nConstraints)
Definition: limit-omega.hxx:51
roboptim::trajectory::SumCost
Definition: fwd.hh:36
roboptim::trajectory::ConstrainedBSpline::parameters
const vector_t & parameters() const
Overloaded parameters method from Trajectory<N>.
Definition: constrained-b-spline.hxx:132
roboptim::trajectory::Trajectory::operator()
result_t operator()(StableTimePoint argument) const
Definition: trajectory/trajectory.hh:194
roboptim::trajectory::OrthogonalSpeed::impl_compute
void impl_compute(result_ref res, const_argument_ref p) const
Definition: orthogonal-speed.cc:35
roboptim::trajectory::StateFunction::StateFunction
StateFunction(const trajectory_t &gamma, boost::shared_ptr< DerivableFunction > cost, const StableTimePoint tpt, size_type order=1)
Constructor.
Definition: state-function.hxx:31
limit-speed.hh
roboptim::trajectory::VectorInterpolation::VectorInterpolationShPtr_t
boost::shared_ptr< VectorInterpolation > VectorInterpolationShPtr_t
Definition: vector-interpolation.hh:51
roboptim::trajectory::SplineLength
Approximate the length of a Spline.
Definition: spline-length.hh:43
roboptim::trajectory::VectorInterpolation::setParameters
void setParameters(const vector_t &)
Store parameters and update coefficients.
Definition: vector-interpolation.hxx:120
roboptim::trajectory::detail::unscaleTime
Function::value_type unscaleTime(Function::value_type unscaled, Function::value_type min, Function::value_type scale)
Definition: free-time-trajectory.hxx:30
roboptim::trajectory::FreeTimeTrajectory::impl_derivative
void impl_derivative(derivative_ref g, double x, size_type order) const
Definition: free-time-trajectory.hxx:85
roboptim::trajectory::Freeze
Add constraints that freeze parameters.
Definition: freeze.hh:43
roboptim::trajectory::Polynomial::monomial_coefficients
@ monomial_coefficients
Monomial polynomial: (t-t₀)
Definition: polynomial.hh:286
roboptim::trajectory::ConstrainedBSpline::updateProjector
void updateProjector()
Update the projector matrix. Called after adding a constraint.
Definition: constrained-b-spline.hxx:148
sys.hh
roboptim::trajectory::OrthogonalSpeed
Definition: orthogonal-speed.hh:28
roboptim::trajectory::CubicBSpline::Dt
value_type Dt() const ROBOPTIM_TRAJECTORY_DEPRECATED
Regular spacing between B-spline knots.
Definition: cubic-b-spline.cc:201
roboptim::trajectory::FreeTimeTrajectory::getTimeScalingIndex
size_type getTimeScalingIndex() const
Definition: free-time-trajectory.hh:89
roboptim
Meta-functions, functions and solvers related classes.
Definition: anthropomorphic-cost-function.hh:28