Cndcurves::Bern< Numeric > | |
CBezierCurve | Represents a Bezier curve of arbitrary dimension and order. For degree lesser than 4, the evaluation is analitycal. Otherwise the bernstein polynoms are used to evaluate the spline at a given location |
CCubicHermiteSpline | Represents a set of cubic hermite splines defining a continuous function ![]() ![]() ![]() ![]() ![]() A hermite cubic spline : |
Cndcurves::helpers::effector_spline_rotation | Represents a trajectory for and end effector. uses the method effector_spline to create a spline trajectory. Additionally, handles the rotation of the effector as follows: does not rotate during the take off and landing phase, then uses a SLERP algorithm to interpolate the rotation in the quaternion space |
CExactCubic | Represents a set of cubic splines defining a continuous function crossing each of the waypoint given in its initialization |
CPiecewiseCurve | Represent a piecewise curve. We can add some new curve, but the starting time of the curve to add should be equal to the ending time of the actual piecewise_curve. \ Example : A piecewise curve composed of three curves cf0, cf1 and cf2 where cf0 is defined between ![]() ![]() ![]() ![]() ![]() ![]() |
Cndcurves::optimization::problem_data< Point, Numeric, Safe > | |
Cndcurves::optimization::quadratic_problem< Point, Numeric > | |
Cndcurves::quadratic_variable< Numeric > | |
Cndcurves::quadratic_variable< Numeric > | |
▼Cndcurves::serialization::Serializable | |
▼Cndcurves::curve_abc< double, double, false, Eigen::Matrix< double, Eigen::Dynamic, 1 >, Eigen::Matrix< double, Eigen::Dynamic, 1 > > | |
Cndcurves::constant_curve< Time, Numeric, Safe, Point, Point_derivate > | Represents a constant_curve curve, always returning the same value and a null derivative |
▼Cndcurves::piecewise_curve< Time, Numeric, Safe, Point, Point_derivate, CurveType > | |
Cndcurves::exact_cubic< Numeric, Numeric, false, point_one_dim_t > | |
▼Cndcurves::curve_abc< double, double, false, matrix3_t, point3_t > | |
Cndcurves::SO3Linear< Time, Numeric, Safe > | Represents a linear interpolation in SO3, using the slerp method provided by Eigen::Quaternion |
▼Cndcurves::curve_abc< double, double, false, Eigen::Matrix< double, Eigen::Dynamic, 1 > > | |
Cndcurves::bezier_curve< Time, Numeric, Safe, Point > | |
Cndcurves::cubic_hermite_spline< Time, Numeric, Safe, Point > | |
Cndcurves::polynomial< Time, Numeric, Safe, Point, T_Point > | Represents a polynomial of an arbitrary order defined on the interval ![]() ![]() where N is the order and ![]() |
Cndcurves::sinusoidal< Time, Numeric, Safe, Point > | Represents a sinusoidal curve, evaluating the following equation: p0 + amplitude * (sin(2pi/T + phi) |
▼Cndcurves::curve_abc< double, double, false, Eigen::Transform< double, 3, Eigen::Affine >, Eigen::Matrix< double, 6, 1 > > | |
Cndcurves::SE3Curve< Time, Numeric, Safe > | Composition of a curve of any type of dimension 3 and a curve representing an rotation (in current implementation, only SO3Linear can be used for the rotation part) The output is a vector of size 7 (pos_x,pos_y,pos_z,quat_x,quat_y,quat_z,quat_w) The output of the derivative of any order is a vector of size 6 (linear_x,linear_y,linear_z,angular_x,angular_y,angular_z) |
▼Cndcurves::curve_abc< Time, Numeric, Safe, Point, Point_derivate > | Represents a curve of dimension Dim. If value of parameter Safe is false, no verification is made on the evaluation of the curve |
▼Cndcurves::piecewise_curve< double, double, false, Eigen::Matrix< double, Eigen::Dynamic, 1 > > | |
Cndcurves::exact_cubic< Time, Numeric, Safe, Point, T_Point, SplineBase > | |
Cndcurves::helpers::rotation_spline | |
▼Cndcurves::curve_constraints< Point > | |
Cndcurves::optimization::problem_definition< Point, Numeric > | |
Cndcurves::linear_variable< Numeric, Safe > | |
Cndcurves::SO3Smooth< Time, Numeric, Safe > |