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typedef Point | point_t |
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typedef Eigen::Matrix< Numeric, Eigen::Dynamic, 1 > | vector_x_t |
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typedef Eigen::Ref< const vector_x_t > | vector_x_ref_t |
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typedef Time | time_t |
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typedef Numeric | num_t |
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typedef curve_constraints< point_t > | curve_constraints_t |
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typedef std::vector< point_t, Eigen::aligned_allocator< point_t > > | t_point_t |
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typedef t_point_t::const_iterator | cit_point_t |
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typedef bezier_curve< Time, Numeric, Safe, Point > | bezier_curve_t |
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typedef boost::shared_ptr< bezier_curve_t > | bezier_curve_ptr_t |
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typedef piecewise_curve< Time, Numeric, Safe, point_t, point_t, bezier_curve_t > | piecewise_curve_t |
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typedef curve_abc< Time, Numeric, Safe, point_t > | curve_abc_t |
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typedef curve_abc_t::curve_ptr_t | curve_ptr_t |
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typedef Eigen::Matrix< double, Eigen::Dynamic, 1 > | point_t |
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typedef Eigen::Matrix< double, Eigen::Dynamic, 1 > | point_derivate_t |
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typedef double | time_t |
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typedef double | num_t |
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typedef curve_abc< double, double, Safe, point_t, point_derivate_t > | curve_t |
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typedef curve_abc< double, double, Safe, point_derivate_t > | curve_derivate_t |
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typedef boost::shared_ptr< curve_t > | curve_ptr_t |
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| bezier_curve () |
| Empty constructor. Curve obtained this way can not perform other class functions. More...
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template<typename In > |
| 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. Given the first and last point of a control points set, create the bezier curve. More...
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template<typename In > |
| 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 with constraints. This constructor will add 4 points (2 after the first one, 2 before the last one) to ensure that velocity and acceleration constraints are respected. More...
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| bezier_curve (const bezier_curve &other) |
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virtual | ~bezier_curve () |
| Destructor. More...
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virtual point_t | operator() (const time_t t) const |
| Evaluation of the bezier curve at time t. More...
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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. Only two curves of the same class can be approximately equals, for comparison between different type of curves see isEquivalent More...
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virtual bool | isApprox (const curve_abc_t *other, const Numeric prec=Eigen::NumTraits< Numeric >::dummy_precision()) const |
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virtual bool | operator== (const bezier_curve_t &other) const |
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virtual bool | operator!= (const bezier_curve_t &other) const |
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bezier_curve_t | compute_derivate (const std::size_t order) const |
| Compute the derived curve at order N. Computes the derivative order N, of bezier curve of parametric equation x(t). More...
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bezier_curve_t * | compute_derivate_ptr (const std::size_t order) const |
| Compute the derived curve at order N. More...
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bezier_curve_t | compute_primitive (const std::size_t order, const point_t &init) const |
| Compute the primitive of the curve at order N. Computes the primitive at order N of bezier curve of parametric equation .
At order , the primitve of is such as . More...
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bezier_curve_t | compute_primitive (const std::size_t order) const |
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bezier_curve_t * | compute_primitive_ptr (const std::size_t order, const point_t &init) const |
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bezier_curve_t | elevate (const std::size_t order) const |
| Computes a Bezier curve of order degrees higher than the current curve, but strictly equivalent. Order elevation is required for addition / substraction and other comparison operations. More...
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void | elevate_self (const std::size_t order) |
| Elevate the Bezier curve of order degrees higher than the current curve, but strictly equivalent. Order elevation is required for addition / substraction and other comparison operations. More...
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virtual point_t | derivate (const time_t t, const std::size_t order) const |
| Evaluate the derivative order N of curve at time t. If derivative is to be evaluated several times, it is rather recommended to compute derived curve using compute_derivate. More...
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point_t | evalBernstein (const Numeric t) const |
| Evaluate all Bernstein polynomes for a certain degree. A bezier curve with N control points is represented by : with .
Warning: the horner scheme is about 100 times faster than this method.
This method will probably be removed in the future as the computation of bernstein polynomial is very costly. More...
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| curve_abc () |
| Constructor. More...
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virtual | ~curve_abc () |
| Destructor. More...
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virtual point_t | operator() (const time_t t) const=0 |
| Evaluation of the cubic spline at time t. More...
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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. More...
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bool | isEquivalent (const curve_t *other, const double prec=Eigen::NumTraits< double >::dummy_precision(), const size_t order=5) const |
| isEquivalent check if other and *this are approximately equal by values, given a precision threshold. This test is done by discretizing both curves and evaluating them and their derivatives. More...
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virtual bool | isApprox (const curve_t *other, const double prec=Eigen::NumTraits< double >::dummy_precision()) const=0 |
| isApprox check if other and *this are approximately equal given a precision threshold Only two curves of the same class can be approximately equal, for comparison between different type of curves see isEquivalent. More...
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virtual std::size_t | dim () const=0 |
| Get dimension of curve. More...
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virtual time_t | min () const=0 |
| Get the minimum time for which the curve is defined. More...
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virtual time_t | max () const=0 |
| Get the maximum time for which the curve is defined. More...
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virtual std::size_t | degree () const=0 |
| Get the degree of the curve. More...
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std::pair< time_t, time_t > | timeRange () |
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void | serialize (Archive &ar, const unsigned int version) |
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template<class Derived > |
void | loadFromText (const std::string &filename) |
| Loads a Derived object from a text file. More...
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template<class Derived > |
void | saveAsText (const std::string &filename) const |
| Saved a Derived object as a text file. More...
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template<class Derived > |
void | loadFromXML (const std::string &filename, const std::string &tag_name) |
| Loads a Derived object from an XML file. More...
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template<class Derived > |
void | saveAsXML (const std::string &filename, const std::string &tag_name) const |
| Saved a Derived object as an XML file. More...
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template<class Derived > |
void | loadFromBinary (const std::string &filename) |
| Loads a Derived object from an binary file. More...
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template<class Derived > |
void | saveAsBinary (const std::string &filename) const |
| Saved a Derived object as an binary file. More...
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