7#ifndef SOT_TOOLS_KINEMATIC_PLANNER_HH
8#define SOT_TOOLS_KINEMATIC_PLANNER_HH
17#include <dynamic-graph/entity.h>
18#include <dynamic-graph/factory.h>
19#include <dynamic-graph/linear-algebra.h>
20#include <dynamic-graph/signal-base.h>
21#include <dynamic-graph/signal-ptr.h>
22#include <dynamic-graph/signal-time-dependent.h>
24#include <sot/core/debug.hh>
27#include <Eigen/StdVector>
28#include <unsupported/Eigen/FFT>
29#include <unsupported/Eigen/MatrixFunctions>
30#include <unsupported/Eigen/Splines>
39using dynamicgraph::Entity;
44 typedef std::vector<Eigen::ArrayXd, Eigen::aligned_allocator<Eigen::ArrayXd> >
47 typedef std::vector<Eigen::ArrayXXd,
48 Eigen::aligned_allocator<Eigen::ArrayXXd> >
101 template <
typename Derived>
102 void read2DArray(std::string& fileName, Eigen::DenseBase<Derived>& outArr);
104 void setParams(
const double& _distanceToDrawer,
105 const double& _objectPositionInDrawer,
const std::string& dir);
108 dynamicgraph::Matrix& beta3, Eigen::ArrayXd& mwwn,
109 double& sigma2,
int& N,
int& K);
113 void smoothEnds(Eigen::Ref<Eigen::ArrayXd> tr);
116 void goalAdaption(dynamicgraph::Vector& goals,
const std::string&);
118 int polyOrder,
int frameSize);
Definition: cubic-interpolation-se3.hh:16