Here are the classes, structs, unions and interfaces with brief descriptions:
[detail level 123]
| ▼Nparametriccurves | |
| ▼Nspatial | |
| CForceCurve | Representation of a spatial vector curve in the form of splines Returns Plucker coordinates in the form of (Linear(3), Angular(3)) |
| CAbstractCurve | Represents a curve of dimension Dim is Safe is false, no verification is made on the evaluation of the curve |
| CConstant | |
| Ccurve_constraints | |
| CInfiniteConstAcc | Creates InfiniteConstAcc curve s = s_0 + u_0*t+0.5*a_0*t^2 |
| CInfiniteSinusoid | Creates InfiniteSinusoid curve The sinusoid is actually a cosine so that it starts with zero velocity. Returns x = x_init + A*cos(2*pi*f*t) where f is give by 1/(2*traj_time) |
| CLinearChirp | Creates LinearChirp curve Linear chirp trajectory generator. A linear chirp is a sinusoid whose frequency is a linear function of time. In particular the frequency starts from a value f0 and it increases linearly up to a value f1. Then it goes back to f0 and the trajectory is ended |
| CMinimumJerk | Creates MinimumJerk curve |
| CPolynomial | Represents a Polynomialf arbitrary order defined on the interval [tBegin, tEnd]. It follows the equation x(t) = a + b(t - t_min_) + ... + d(t - t_min_)^N, where N is the order |
| CSpline | Represents a set of cubic splines defining a continuous function crossing each of the waypoint given in its initialization |
| CTextFile | Loads curve from file |
| ▼Nserialization | |
| CSerializable | |
| ▼Nspline | |
| ▼Nhelpers | |
| Ceffector_spline_rotation | Represents a trajectory for and end effector uses the method effector_spline to create a spline trajectory. Additionally, handles the rotation of the effector as follows: does not rotate during the take off and landing phase, then uses a SLERP algorithm to interpolate the rotation in the quaternion space |
| Crotation_spline | |
| CBern | |
| Cbezier_curve | |
| CSplineOptimizer | Mosek connection to produce optimized splines |
| CBernstein | Computes a Bernstein polynome |
| CBezierCurve | Represents a Bezier curve of arbitrary dimension and order. For degree lesser than 4, the evaluation is analitycal.Otherwise the bernstein polynoms are used to evaluate the spline at a given location |