template<typename Time = double, typename Numeric = Time, Eigen::Index Dim = 3, bool Safe = false, typename Point = Eigen::Matrix<Numeric, Dim, 1>>
class spline::SplineOptimizer< Time, Numeric, Dim, Safe, Point >
Mosek connection to produce optimized splines.
template<typename Time = double, typename Numeric = Time, Eigen::Index Dim = 3, bool Safe = false, typename Point = Eigen::Matrix<Numeric, Dim, 1>>
template<typename In >
Starts an optimization loop to create curve.
- Parameters
-
waypoints | : a list comprising at least 2 waypoints in ascending time order |
- Returns
- An Optimised curve
template<typename Time = double, typename Numeric = Time, Eigen::Index Dim = 3, bool Safe = false, typename Point = Eigen::Matrix<Numeric, Dim, 1>>
template<typename In >
exact_cubic< Time, Numeric, Dim, Safe, Point > * spline::SplineOptimizer< Time, Numeric, Dim, Safe, Point >::GenerateOptimizedCurve |
( |
In | wayPointsBegin, |
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In | wayPointsEnd ) const |
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inline |
A looks something like that : (n = size) [H2(0) 0 0 -H1(0) 0----------------—0] [ 0 0 H2(0) 0 0 -H1(0)------------—0] [ 0 0 0 H2(0) 0 0 H1(0)-----—0] ... [ 0 0 0 0 H2(n) 0 0 0 -H1(n)-0] // row n
Overall it's fairly easy to fill
A looks something like that : (n = size) [G1(0) 0 0 G2(0) 0--------------------—0 -1 0] [ 0 0 G1(0) 0 0 G2(0)----------------—0 -1 0] [ 0 0 0 G1(0) 0 0 G2(0)--------—0 -1 0] ... [ 0 0 0 0 G1(n) 0 0 0 G2(n)-0 -1 0] // row n
Overall it's fairly easy to fill
A looks something like that : (n = size) [G3(0) 0 0 G4(0) 0----------------—0 -1 0] [ 0 0 G3(0) 0 0 G4(0)------------—0 -1 0] [ 0 0 0 G3(0) 0 0 G4(0)-----—0 -1 0] ... [ 0 0 0 0 G3(n) 0 0 0 G4(n)-0 -1 0] // row n
Overall it's fairly easy to fill
A looks something like that : (n = size) [H3(0) 0 0 H4(0) 0----------------—0 -2 0] [ 0 0 H3(0) 0 0 H4(0)------------—0 -2 0] [ 0 0 0 H3(0) 0 0 H4(0)----—0 -2 0] ... [ 0 0 0 0 H3(n) 0 0 0 H4(n)-0 -2 0] // row n
Overall it's fairly easy to fill
*No Bounds on variables. */