9#ifndef _parameteric_curves_constant_hpp
10#define _parameteric_curves_constant_hpp
20template <
typename Numeric = double, Eigen::Index Dim = 1,
21 typename Point = Eigen::Matrix<Numeric, Dim, 1> >
42 const std::size_t&
order)
const {
43 return point_t::Zero();
52 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
Definition constant.hpp:22
Constant(const time_t &traj_time, const point_t &x_init_=Eigen::Matrix< Numeric, Dim, 1 >::Zero())
Constructor.
Definition constant.hpp:31
~Constant()
Destructor.
Definition constant.hpp:36
Point point_t
Definition constant.hpp:23
Numeric num_t
Definition constant.hpp:25
virtual const point_t operator()(const time_t &t) const
Evaluation of the cubic spline at time t.
Definition constant.hpp:39
point_t x_init
Definition constant.hpp:59
Numeric time_t
Definition constant.hpp:24
virtual const point_t derivate(const time_t &t, const std::size_t &order) const
Evaluation of the derivative spline at time t.
Definition constant.hpp:41
virtual bool setInitialPoint(const double &x_init_)
Definition constant.hpp:51
virtual bool setInitialPoint(const point_t &x_init_)
Definition constant.hpp:46
AbstractCurve< Numeric, Point > curve_abc_t
Definition constant.hpp:26
Definition curve-constraint.hpp:18