B-Spline trajectory.
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B-Spline trajectory.
Implement a B-Spline as a trajectory based in doc/quintic-b-spline.tex The template parameter N determines the order of the spline.
◆ impl_compute()
void roboptim::trajectory::SplineLength::impl_compute |
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result_ref |
res, |
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const_argument_ref |
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◆ impl_gradient()
void roboptim::trajectory::SplineLength::impl_gradient |
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gradient_ref |
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const_argument_ref |
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size_type |
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◆ SplineLength()
roboptim::trajectory::SplineLength::SplineLength |
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const CubicBSpline & |
spline, |
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const size_type |
nDiscretizationPoints = 100 , |
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boost::optional< interval_t > |
interval = boost::none |
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Construct the function from a Spline and a definition interval.
The interval allows to only compute the length of the Spline on a specific interval. The step associated to the interval controls the approximation precision.
- Parameters
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spline | spline used for length computation |
interval | interval on which the length is computed. |
nDiscretizationPoints | number of discretization points |
◆ ~SplineLength()
roboptim::trajectory::SplineLength::~SplineLength |
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◆ logger
Pointer to B-spline logger (see log4cxx documentation).
LOG4CXX logger for B-splines.
- Template Parameters
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- Returns
- logger.