9#ifndef _parameteric_curves_infinite_constant_acceleration_hpp
10#define _parameteric_curves_infinite_constant_acceleration_hpp
21template <
typename Numeric = double, Eigen::Index Dim = 1,
22 typename Point = Eigen::Matrix<Numeric, Dim, 1> >
62 const std::size_t&
order)
const {
72 }
else if (
order == 2) {
80 std::cerr <<
"Higher order derivatives not supported" << std::endl;
81 return point_t::Zero(Dim);
92 if (Dim != 1)
return false;
104 if (Dim != 1)
return false;
Definition abstract-curve.hpp:16
Eigen::Matrix< Numeric, 3, 1 > Point
Definition effector_spline.h:28
double Numeric
Definition effector_spline.h:26
Represents a curve of dimension Dim is Safe is false, no verification is made on the evaluation of th...
Definition abstract-curve.hpp:21
Creates InfiniteConstAcc curve s = s_0 + u_0*t+0.5*a_0*t^2.
Definition infinite-const-acc.hpp:23
Point point_t
Definition infinite-const-acc.hpp:24
point_t x_final
Definition infinite-const-acc.hpp:118
virtual const point_t operator()(const time_t &t_) const
Evaluation of the cubic spline at time t.
Definition infinite-const-acc.hpp:46
Numeric num_t
Definition infinite-const-acc.hpp:26
virtual const point_t derivate(const time_t &t_, const std::size_t &order) const
Evaluation of the derivative spline at time t.
Definition infinite-const-acc.hpp:61
virtual bool setInitialPoint(const point_t &x_init_)
Definition infinite-const-acc.hpp:86
virtual bool setFinalPoint(const Eigen::VectorXd &x_final_)
Definition infinite-const-acc.hpp:97
virtual bool setTrajectoryTime(double traj_time_)
Definition infinite-const-acc.hpp:109
time_t traj_time
Definition infinite-const-acc.hpp:119
Numeric time_t
Definition infinite-const-acc.hpp:25
virtual bool setFinalPoint(const double &x_final_)
Definition infinite-const-acc.hpp:103
~InfiniteConstAcc()
Destructor.
Definition infinite-const-acc.hpp:43
point_t x_init
Definition infinite-const-acc.hpp:117
AbstractCurve< Numeric, Point > curve_abc_t
Definition infinite-const-acc.hpp:28
virtual bool setInitialPoint(const double &x_init_)
Definition infinite-const-acc.hpp:91
InfiniteConstAcc(const time_t &traj_time_, const point_t &x_init_=Eigen::Matrix< Numeric, Dim, 1 >::Zero(), const point_t &x_final_=Eigen::Matrix< Numeric, Dim, 1 >::Zero())
Constructor.
Definition infinite-const-acc.hpp:33
Definition curve-constraint.hpp:18