hpp-bezier-com-traj  5.0.0
Multi contact trajectory generation for the COM using Bezier curves
waypoints_definition.hh
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1 /*
2  * Copyright 2018, LAAS-CNRS
3  * Author: Pierre Fernbach
4  */
5 
6 #ifndef BEZIER_COM_TRAJ_WP_DEF_H
7 #define BEZIER_COM_TRAJ_WP_DEF_H
8 
10 
11 namespace bezier_com_traj {
24 coefs_t evaluateCurveAtTime(const ProblemData& pData,
25  const std::vector<point_t>& pi, double t);
26 
35  const std::vector<point_t>& pi, double T,
36  double t);
37 
46  const std::vector<point_t>& pi,
47  double T, double t);
48 
57  const std::vector<point_t>& pi, double T,
58  double t);
59 
67 std::vector<point_t> computeConstantWaypoints(const ProblemData& pData,
68  double T);
69 
77 bezier_wp_t::t_point_t computeConstantWaypointsSymbolic(
78  const ProblemData& pData, double T);
79 
87 std::vector<waypoint_t> computeVelocityWaypoints(
88  const ProblemData& pData, const double T,
89  std::vector<bezier_t::point_t> pi = std::vector<bezier_t::point_t>());
90 
98 std::vector<waypoint_t> computeAccelerationWaypoints(
99  const ProblemData& pData, const double T,
100  std::vector<bezier_t::point_t> pi = std::vector<bezier_t::point_t>());
101 
109 std::vector<waypoint_t> computeJerkWaypoints(
110  const ProblemData& pData, const double T,
111  std::vector<bezier_t::point_t> pi = std::vector<bezier_t::point_t>());
112 
114  const std::vector<point_t>& pi,
115  double t);
117  const double T,
118  const std::vector<point_t>& pi,
119  double t);
121  const ProblemData& pData, const double T, const std::vector<point_t>& pi,
122  double t);
124  const double T,
125  const std::vector<point_t>& pi,
126  double t);
127 
135 bezier_wp_t::t_point_t computeWwaypoints(const ProblemData& pData, double T);
136 
137 coefs_t computeFinalVelocityPoint(const ProblemData& pData, double T);
138 
139 int dimVar(const ProblemData& pData);
140 
141 std::pair<MatrixXX, VectorX> computeVelocityCost(
142  const ProblemData& pData, double T,
143  std::vector<bezier_t::point_t> pi = std::vector<bezier_t::point_t>());
144 
145 } // namespace bezier_com_traj
146 
147 #endif
Definition: common_solve_methods.hh:15
bezier_wp_t::t_point_t computeConstantWaypointsSymbolic(const ProblemData &pData, double T)
computeConstantWaypointsSymbolic compute the constant waypoints of c(t) defined by the constraints on...
Definition: waypoints_definition.cpp:297
coefs_t evaluateAccelerationCurveAtTime(const ProblemData &pData, const std::vector< point_t > &pi, double T, double t)
evaluateAccelerationCurveAtTime compute the expression of the point on the curve ddc at t,...
Definition: waypoints_definition.cpp:103
std::vector< waypoint_t > computeAccelerationWaypoints(const ProblemData &pData, const double T, std::vector< bezier_t::point_t > pi=std::vector< bezier_t::point_t >())
computeWwaypoints compute the constant waypoints of ddc(t) defined by the constraints on initial and ...
Definition: waypoints_definition.cpp:365
coefs_t computeFinalVelocityPoint(const ProblemData &pData, double T)
Definition: waypoints_definition.cpp:450
waypoint_t evaluateAccelerationCurveWaypointAtTime(const ProblemData &pData, const double T, const std::vector< point_t > &pi, double t)
evaluateCurveAtTime compute the expression of the point on the curve c at t, defined by the waypoint ...
Definition: waypoints_definition.cpp:211
waypoint_t evaluateCurveWaypointAtTime(const ProblemData &pData, const std::vector< point_t > &pi, double t)
evaluateCurveAtTime compute the expression of the point on the curve c at t, defined by the waypoint ...
Definition: waypoints_definition.cpp:138
std::pair< double, point3_t > coefs_t
Definition: definitions.hh:62
coefs_t evaluateVelocityCurveAtTime(const ProblemData &pData, const std::vector< point_t > &pi, double T, double t)
evaluateVelocityCurveAtTime compute the expression of the point on the curve dc at t,...
std::pair< MatrixXX, VectorX > computeVelocityCost(const ProblemData &pData, double T, std::vector< bezier_t::point_t > pi=std::vector< bezier_t::point_t >())
computeVelocityCost the matrices H and g defining a cost that minimise the integral of the squared ve...
Definition: waypoints_definition.cpp:479
waypoint_t evaluateJerkCurveWaypointAtTime(const ProblemData &pData, const double T, const std::vector< point_t > &pi, double t)
evaluateCurveAtTime compute the expression of the point on the curve c at t, defined by the waypoint ...
Definition: waypoints_definition.cpp:246
bezier_wp_t::t_point_t computeWwaypoints(const ProblemData &pData, double T)
computeConstantWaypoints compute the constant waypoints of w(t) defined by the constraints on initial...
Definition: waypoints_definition.cpp:427
coefs_t evaluateCurveAtTime(const ProblemData &pData, const std::vector< point_t > &pi, double t)
evaluateCurveAtTime compute the expression of the point on the curve c at t, defined by the waypoint ...
Definition: waypoints_definition.cpp:67
coefs_t evaluateJerkCurveAtTime(const ProblemData &pData, const std::vector< point_t > &pi, double T, double t)
evaluateAccelerationCurveAtTime compute the expression of the point on the curve ddc at t,...
waypoint_t evaluateVelocityCurveWaypointAtTime(const ProblemData &pData, const double T, const std::vector< point_t > &pi, double t)
evaluateCurveAtTime compute the expression of the point on the curve c at t, defined by the waypoint ...
Definition: waypoints_definition.cpp:173
int dimVar(const ProblemData &pData)
Definition: waypoints_definition.cpp:30
std::vector< waypoint_t > computeVelocityWaypoints(const ProblemData &pData, const double T, std::vector< bezier_t::point_t > pi=std::vector< bezier_t::point_t >())
computeWwaypoints compute the constant waypoints of dc(t) defined by the constraints on initial and f...
Definition: waypoints_definition.cpp:335
std::vector< waypoint_t > computeJerkWaypoints(const ProblemData &pData, const double T, std::vector< bezier_t::point_t > pi=std::vector< bezier_t::point_t >())
computeWwaypoints compute the constant waypoints of dddc(t) defined by the constraints on initial and...
Definition: waypoints_definition.cpp:395
std::vector< point_t > computeConstantWaypoints(const ProblemData &pData, double T)
computeConstantWaypoints compute the constant waypoints of c(t) defined by the constraints on initial...
Definition: waypoints_definition.cpp:286
Defines all the inputs of the problem: Initial and terminal constraints, as well as selected cost fun...
Definition: data.hh:92
Definition: utils.hh:25