Here are the classes, structs, unions and interfaces with brief descriptions:
[detail level 123]
▼Nboost | |
▼Nparametriccurves | |
▼Nspatial | |
CForceCurve | Representation of a spatial vector curve in the form of splines Returns Plucker coordinates in the form of (Linear(3), Angular(3)) |
CAbstractCurve | Represents a curve of dimension Dim is Safe is false, no verification is made on the evaluation of the curve |
CConstant | |
Ccurve_constraints | |
CInfiniteConstAcc | Creates InfiniteConstAcc curve s = s_0 + u_0*t+0.5*a_0*t^2 |
CInfiniteSinusoid | Creates InfiniteSinusoid curve The sinusoid is actually a cosine so that it starts with zero velocity. Returns x = x_init + A*cos(2*pi*f*t) where f is give by 1/(2*traj_time) |
CLinearChirp | Creates LinearChirp curve Linear chirp trajectory generator. A linear chirp is a sinusoid whose frequency is a linear function of time. In particular the frequency starts from a value f0 and it increases linearly up to a value f1. Then it goes back to f0 and the trajectory is ended |
CMinimumJerk | Creates MinimumJerk curve |
CPolynomial | Represents a Polynomialf arbitrary order defined on the interval [tBegin, tEnd]. It follows the equation x(t) = a + b(t - t_min_) + ... + d(t - t_min_)^N, where N is the order |
CSpline | Represents a set of cubic splines defining a continuous function crossing each of the waypoint given in its initialization |
CTextFile | Loads curve from file |
▼Nserialization | |
CSerializable | |
▼Nspline | |
▼Nhelpers | |
Ceffector_spline_rotation | Represents a trajectory for and end effector uses the method effector_spline to create a spline trajectory. Additionally, handles the rotation of the effector as follows: does not rotate during the take off and landing phase, then uses a SLERP algorithm to interpolate the rotation in the quaternion space |
Crotation_spline | |
CBern | |
Cbezier_curve | |
CSplineOptimizer | Mosek connection to produce optimized splines |
CBernstein | Computes a Bernstein polynome |
CBezierCurve | Represents a Bezier curve of arbitrary dimension and order. For degree lesser than 4, the evaluation is analitycal.Otherwise the bernstein polynoms are used to evaluate the spline at a given location |