Representation of a spatial vector curve in the form of splines Returns Plucker coordinates in the form of (Linear(3), Angular(3)) More...
#include <parametric-curves/spatial/force-curve.hpp>
Public Types | |
typedef Eigen::Matrix< Numeric, 2 *Dim, 1 > | force_t |
typedef Eigen::Matrix< Numeric, 2 *Dim, 1 > | motion_t |
typedef Spline< Numeric, Dim, Eigen::Matrix< Numeric, Dim, 1 > > | spline_lin_t |
typedef Spline< Numeric, Dim, Eigen::Matrix< Numeric, Dim, 1 > > | spline_ang_t |
typedef Numeric | time_t |
typedef Numeric | num_t |
typedef AbstractCurve< num_t, force_t > | curve_abc_t |
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typedef Point | point_t |
typedef Numeric | time_t |
typedef Numeric | num_t |
Static Public Attributes | |
static const std::size_t | Dim = 3 |
Protected Attributes | |
spline_lin_t | linPart |
spline_ang_t | angPart |
motion_t | motionVector |
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time_t | t_min |
time_t | t_max |
Friends | |
class | boost::serialization::access |
Representation of a spatial vector curve in the form of splines Returns Plucker coordinates in the form of (Linear(3), Angular(3))
typedef AbstractCurve<num_t, force_t> parametriccurves::spatial::ForceCurve< Numeric >::curve_abc_t |
typedef Eigen::Matrix<Numeric, 2 * Dim, 1> parametriccurves::spatial::ForceCurve< Numeric >::force_t |
typedef Eigen::Matrix<Numeric, 2 * Dim, 1> parametriccurves::spatial::ForceCurve< Numeric >::motion_t |
typedef Numeric parametriccurves::spatial::ForceCurve< Numeric >::num_t |
typedef Spline<Numeric, Dim, Eigen::Matrix<Numeric, Dim, 1> > parametriccurves::spatial::ForceCurve< Numeric >::spline_ang_t |
typedef Spline<Numeric, Dim, Eigen::Matrix<Numeric, Dim, 1> > parametriccurves::spatial::ForceCurve< Numeric >::spline_lin_t |
typedef Numeric parametriccurves::spatial::ForceCurve< Numeric >::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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Evaluation of the derivative spline at time t.
t | : the time when to evaluate the spline |
order | : order of the derivative |
return | : the value x(t) |
Implements parametriccurves::AbstractCurve< Numeric, Point >.
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inline |
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Evaluation of the cubic spline at time t.
t | : the time when to evaluate the spine |
return | : the value x(t) |
Implements parametriccurves::AbstractCurve< Numeric, Point >.
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Saved a Derived object as a text file.
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inlinevirtual |
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inline |
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inlinevirtual |
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protected |
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static |
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protected |
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protected |