|
| struct | AbstractCurve |
| | Represents a curve of dimension Dim is Safe is false, no verification is made on the evaluation of the curve. More...
|
| |
| struct | Constant |
| |
| struct | curve_constraints |
| |
| class | InfiniteConstAcc |
| | Creates InfiniteConstAcc curve s = s_0 + u_0*t+0.5*a_0*t^2. More...
|
| |
| class | InfiniteSinusoid |
| | 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) More...
|
| |
| class | LinearChirp |
| | 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. More...
|
| |
| class | MinimumJerk |
| | Creates MinimumJerk curve. More...
|
| |
| class | Polynomial |
| | 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. More...
|
| |
| class | Spline |
| | Represents a set of cubic splines defining a continuous function crossing each of the waypoint given in its initialization. More...
|
| |
| class | TextFile |
| | Loads curve from file. More...
|
| |
|
| template<typename _Matrix_Type_ > |
| void | PseudoInverse (_Matrix_Type_ &pinvmat) |
| |
| template<typename Point , typename T_Point > |
| T_Point | make_cubic_vector (Point const &a, Point const &b, Point const &c, Point const &d) |
| | Creates coefficient vector of a cubic spline defined on the interval [tBegin, tEnd]. It follows the equation x(t) = a + b(t - t_min_) + c(t - t_min_)^2 + d(t - t_min_)^3.
|
| |
| template<typename Numeric , Eigen::Index Dim, typename Point , typename T_Point > |
| Polynomial< Numeric, Dim, Point > | create_cubic (Point const &a, Point const &b, Point const &c, Point const &d, const Numeric min, const Numeric max) |
| |
| template<typename Point , typename T_Point > |
| T_Point | make_quintic_vector (Point const &a, Point const &b, Point const &c, Point const &d, Point const &e, Point const &f) |
| | Creates coefficient vector of a quintic spline defined on the interval [tBegin, tEnd]. It follows the equation x(t) = a + b(t - t_min_) + c(t - t_min_)^2 + d(t - t_min_)^3 + e(t - t_min_)^4 + f(t - t_min_)^5.
|
| |
| template<typename Numeric , Eigen::Index Dim, typename Point , typename T_Point > |
| Polynomial< Numeric, Dim, Point > | create_quintic (Point const &a, Point const &b, Point const &c, Point const &d, Point const &e, Point const &f, const Numeric min, const Numeric max) |
| |