9#ifndef _parameteric_curves_sinusoid_hpp
10#define _parameteric_curves_sinusoid_hpp
20template <
typename Numeric = double, Eigen::Index Dim = 1,
21 typename Point = Eigen::Matrix<Numeric, Dim, 1> >
50 const std::size_t&
order)
const {
57 std::cerr <<
"Higher order derivatives not supported" << std::endl;
58 return point_t::Zero(Dim);
69 if (Dim != 1)
return false;
81 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 InfiniteSinusoid curve The sinusoid is actually a cosine so that it starts with zero velocity...
Definition infinite-sinusoid.hpp:22
virtual const point_t operator()(const time_t &t) const
Evaluation of the cubic spline at time t.
Definition infinite-sinusoid.hpp:45
virtual bool setFinalPoint(const double &x_final_)
Definition infinite-sinusoid.hpp:80
point_t x_init
Definition infinite-sinusoid.hpp:93
virtual bool setInitialPoint(const point_t &x_init_)
Definition infinite-sinusoid.hpp:63
virtual bool setFinalPoint(const Eigen::VectorXd &x_final_)
Definition infinite-sinusoid.hpp:74
virtual bool setTrajectoryTime(double traj_time_)
Definition infinite-sinusoid.hpp:85
Numeric time_t
Definition infinite-sinusoid.hpp:24
InfiniteSinusoid(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-sinusoid.hpp:32
AbstractCurve< Numeric, Point > curve_abc_t
Definition infinite-sinusoid.hpp:27
Point point_t
Definition infinite-sinusoid.hpp:23
virtual bool setInitialPoint(const double &x_init_)
Definition infinite-sinusoid.hpp:68
Numeric num_t
Definition infinite-sinusoid.hpp:25
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-sinusoid.hpp:49
time_t traj_time
Definition infinite-sinusoid.hpp:95
point_t x_final
Definition infinite-sinusoid.hpp:94
~InfiniteSinusoid()
Destructor.
Definition infinite-sinusoid.hpp:42
Definition curve-constraint.hpp:18