Represents a set of cubic splines defining a continuous function crossing each of the waypoint given in its initialization. More...
#include <parametric-curves/spline.hpp>
Public Types | |
typedef Point | point_t |
typedef std::vector< Point, Eigen::aligned_allocator< Point > > | t_point_t |
typedef Eigen::Matrix< Numeric, Eigen::Dynamic, Eigen::Dynamic > | MatrixX |
typedef Numeric | time_t |
typedef Numeric | num_t |
typedef SplineBase | spline_t |
typedef std::vector< spline_t, Eigen::aligned_allocator< spline_t > > | t_spline_t |
typedef t_spline_t::iterator | it_spline_t |
typedef t_spline_t::const_iterator | cit_spline_t |
typedef curve_constraints< point_t > | spline_constraints |
typedef AbstractCurve< Numeric, Point > | curve_abc_t |
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typedef Eigen::Matrix< double, Eigen::Dynamic, 1 > | point_t |
typedef double | time_t |
typedef double | num_t |
Public Member Functions | |
Spline () | |
Constructor. More... | |
Spline (const t_spline_t &subSplines) | |
Constructor. More... | |
Spline (const Spline &other) | |
Copy Constructor. More... | |
~Spline () | |
Destructor. More... | |
template<typename In > | |
void | createSplineFromWayPoints (In wayPointsBegin, In wayPointsEnd) |
template<typename In > | |
void | createSplineFromWayPointsConstr (In wayPointsBegin, In wayPointsEnd, const spline_constraints &constraints) |
virtual const point_t | operator() (const time_t &t) const |
virtual const point_t | derivate (const time_t &t, const std::size_t &order) const |
virtual const std::size_t & | size () const |
const t_spline_t & | getSubsplines () const |
virtual bool | setInitialPoint (const point_t &) |
virtual bool | setInitialPoint (const num_t &) |
bool | loadFromFile (const std::string &filename) |
bool | saveToFile (const std::string &filename) const |
Saved a Derived object as a text file. More... | |
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AbstractCurve (time_t t_min_, time_t t_max_) | |
AbstractCurve () | |
virtual | ~AbstractCurve () |
virtual const point_t | operator() (const time_t &t) const=0 |
Evaluation of the cubic spline at time t. More... | |
virtual const point_t | derivate (const time_t &t, const std::size_t &order) const=0 |
Evaluation of the derivative spline at time t. More... | |
virtual const time_t | tmin () const |
virtual const time_t | tmax () const |
virtual bool | checkRange (const time_t t) const |
virtual bool | setInitialPoint (const point_t &)=0 |
virtual bool | setInitialPoint (const num_t &)=0 |
virtual bool | setTimePeriod (const time_t &traj_time_) |
Protected Attributes | |
t_spline_t | subSplines_ |
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time_t | t_min |
time_t | t_max |
Friends | |
class | boost::serialization::access |
Represents a set of cubic splines defining a continuous function crossing each of the waypoint given in its initialization.
typedef t_spline_t::const_iterator parametriccurves::Spline< Numeric, Dim, Point, SplineBase >::cit_spline_t |
typedef AbstractCurve<Numeric, Point> parametriccurves::Spline< Numeric, Dim, Point, SplineBase >::curve_abc_t |
typedef t_spline_t::iterator parametriccurves::Spline< Numeric, Dim, Point, SplineBase >::it_spline_t |
typedef Eigen::Matrix<Numeric, Eigen::Dynamic, Eigen::Dynamic> parametriccurves::Spline< Numeric, Dim, Point, SplineBase >::MatrixX |
typedef Numeric parametriccurves::Spline< Numeric, Dim, Point, SplineBase >::num_t |
typedef Point parametriccurves::Spline< Numeric, Dim, Point, SplineBase >::point_t |
typedef curve_constraints<point_t> parametriccurves::Spline< Numeric, Dim, Point, SplineBase >::spline_constraints |
typedef SplineBase parametriccurves::Spline< Numeric, Dim, Point, SplineBase >::spline_t |
typedef std::vector<Point, Eigen::aligned_allocator<Point> > parametriccurves::Spline< Numeric, Dim, Point, SplineBase >::t_point_t |
typedef std::vector<spline_t, Eigen::aligned_allocator<spline_t> > parametriccurves::Spline< Numeric, Dim, Point, SplineBase >::t_spline_t |
typedef Numeric parametriccurves::Spline< Numeric, Dim, Point, SplineBase >::time_t |
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Constructor.
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Constructor.
subSplines | vector of subsplines |
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Copy Constructor.
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Destructor.
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Saved a Derived object as a text file.
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