#include <parametric-curves/bezier_curve.h>
template<typename Time = double, typename Numeric = Time, std::size_t Dim = 3, bool Safe = false, typename Point = Eigen::Matrix<Numeric, Dim, 1>>
template<typename Time = double, typename Numeric = Time, std::size_t Dim = 3, bool Safe = false, typename Point = Eigen::Matrix<Numeric, Dim, 1>>
template<typename Time = double, typename Numeric = Time, std::size_t Dim = 3, bool Safe = false, typename Point = Eigen::Matrix<Numeric, Dim, 1>>
template<typename Time = double, typename Numeric = Time, std::size_t Dim = 3, bool Safe = false, typename Point = Eigen::Matrix<Numeric, Dim, 1>>
template<typename Time = double, typename Numeric = Time, std::size_t Dim = 3, bool Safe = false, typename Point = Eigen::Matrix<Numeric, Dim, 1>>
template<typename Time = double, typename Numeric = Time, std::size_t Dim = 3, bool Safe = false, typename Point = Eigen::Matrix<Numeric, Dim, 1>>
template<typename Time = double, typename Numeric = Time, std::size_t Dim = 3, bool Safe = false, typename Point = Eigen::Matrix<Numeric, Dim, 1>>
template<typename Time = double, typename Numeric = Time, std::size_t Dim = 3, bool Safe = false, typename Point = Eigen::Matrix<Numeric, Dim, 1>>
template<typename In >
Constructor.
- Parameters
-
PointsBegin,PointsEnd | : the points parametering the Bezier curve |
References spline::bezier_curve< Time, Numeric, Dim, Safe, Point >::bernstein_, and spline::bezier_curve< Time, Numeric, Dim, Safe, Point >::size_.
template<typename Time = double, typename Numeric = Time, std::size_t Dim = 3, bool Safe = false, typename Point = Eigen::Matrix<Numeric, Dim, 1>>
template<typename In >
Constructor 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.
- Parameters
-
PointsBegin,PointsEnd | : the points parametering the Bezier curve |
constraints | : constraints applying on start / end velocities and acceleration |
template<typename Time = double, typename Numeric = Time, std::size_t Dim = 3, bool Safe = false, typename Point = Eigen::Matrix<Numeric, Dim, 1>>
template<typename Time = double, typename Numeric = Time, std::size_t Dim = 3, bool Safe = false, typename Point = Eigen::Matrix<Numeric, Dim, 1>>
Computes the derivative curve at order N.
- Parameters
-
order | : order of the derivative |
return | : the value x(t) |
References spline::bezier_curve< Time, Numeric, Dim, Safe, Point >::compute_derivate(), spline::bezier_curve< Time, Numeric, Dim, Safe, Point >::degree_, spline::bezier_curve< Time, Numeric, Dim, Safe, Point >::maxBound_, and spline::bezier_curve< Time, Numeric, Dim, Safe, Point >::minBound_.
Referenced by spline::bezier_curve< Time, Numeric, Dim, Safe, Point >::compute_derivate(), and spline::bezier_curve< Time, Numeric, Dim, Safe, Point >::derivate().
template<typename Time = double, typename Numeric = Time, std::size_t Dim = 3, bool Safe = false, typename Point = Eigen::Matrix<Numeric, Dim, 1>>
Computes the primitive of the curve at order N.
- Parameters
-
constant | : value of the primitive at t = 0 |
return | : the curve x_1(t) such that d/dt(x_1(t)) = x_1(t) |
References spline::bezier_curve< Time, Numeric, Dim, Safe, Point >::compute_primitive(), spline::bezier_curve< Time, Numeric, Dim, Safe, Point >::degree_, spline::bezier_curve< Time, Numeric, Dim, Safe, Point >::maxBound_, and spline::bezier_curve< Time, Numeric, Dim, Safe, Point >::minBound_.
Referenced by spline::bezier_curve< Time, Numeric, Dim, Safe, Point >::compute_primitive().
template<typename Time = double, typename Numeric = Time, std::size_t Dim = 3, bool Safe = false, typename Point = Eigen::Matrix<Numeric, Dim, 1>>
template<typename Time = double, typename Numeric = Time, std::size_t Dim = 3, bool Safe = false, typename Point = Eigen::Matrix<Numeric, Dim, 1>>
template<typename Time = double, typename Numeric = Time, std::size_t Dim = 3, bool Safe = false, typename Point = Eigen::Matrix<Numeric, Dim, 1>>
template<typename Time = double, typename Numeric = Time, std::size_t Dim = 3, bool Safe = false, typename Point = Eigen::Matrix<Numeric, Dim, 1>>
template<typename Time = double, typename Numeric = Time, std::size_t Dim = 3, bool Safe = false, typename Point = Eigen::Matrix<Numeric, Dim, 1>>
template<typename Time = double, typename Numeric = Time, std::size_t Dim = 3, bool Safe = false, typename Point = Eigen::Matrix<Numeric, Dim, 1>>
Evaluation of the cubic spline at time t.
- Parameters
-
t | : the time when to evaluate the spine |
return | : the value x(t) |
References spline::bezier_curve< Time, Numeric, Dim, Safe, Point >::evalHorner(), spline::bezier_curve< Time, Numeric, Dim, Safe, Point >::maxBound_, spline::bezier_curve< Time, Numeric, Dim, Safe, Point >::minBound_, and spline::bezier_curve< Time, Numeric, Dim, Safe, Point >::size_.
template<typename Time = double, typename Numeric = Time, std::size_t Dim = 3, bool Safe = false, typename Point = Eigen::Matrix<Numeric, Dim, 1>>
template<typename Time = double, typename Numeric = Time, std::size_t Dim = 3, bool Safe = false, typename Point = Eigen::Matrix<Numeric, Dim, 1>>
template<typename Time = double, typename Numeric = Time, std::size_t Dim = 3, bool Safe = false, typename Point = Eigen::Matrix<Numeric, Dim, 1>>
Referenced by spline::bezier_curve< Time, Numeric, Dim, Safe, Point >::compute_derivate(), spline::bezier_curve< Time, Numeric, Dim, Safe, Point >::compute_primitive(), and spline::bezier_curve< Time, Numeric, Dim, Safe, Point >::evalHorner().
template<typename Time = double, typename Numeric = Time, std::size_t Dim = 3, bool Safe = false, typename Point = Eigen::Matrix<Numeric, Dim, 1>>
Referenced by spline::bezier_curve< Time, Numeric, Dim, Safe, Point >::compute_derivate(), spline::bezier_curve< Time, Numeric, Dim, Safe, Point >::compute_primitive(), spline::bezier_curve< Time, Numeric, Dim, Safe, Point >::max(), and spline::bezier_curve< Time, Numeric, Dim, Safe, Point >::operator()().
template<typename Time = double, typename Numeric = Time, std::size_t Dim = 3, bool Safe = false, typename Point = Eigen::Matrix<Numeric, Dim, 1>>
Referenced by spline::bezier_curve< Time, Numeric, Dim, Safe, Point >::compute_derivate(), spline::bezier_curve< Time, Numeric, Dim, Safe, Point >::compute_primitive(), spline::bezier_curve< Time, Numeric, Dim, Safe, Point >::min(), and spline::bezier_curve< Time, Numeric, Dim, Safe, Point >::operator()().
template<typename Time = double, typename Numeric = Time, std::size_t Dim = 3, bool Safe = false, typename Point = Eigen::Matrix<Numeric, Dim, 1>>