template<typename Time = double, typename Numeric = Time, bool Safe = false, typename Point = Eigen::Matrix<Numeric, Eigen::Dynamic, 1>>
struct curves::curve_abc< Time, Numeric, Safe, Point >
Represents a curve of dimension Dim.
If value of parameter Safe is false, no verification is made on the evaluation of the curve.
template<typename Time = double, typename Numeric = Time, bool Safe = false, typename Point = Eigen::Matrix<Numeric, Eigen::Dynamic, 1>>
Evaluate the derivative of order N of curve at time t.
- Parameters
-
t | : time when to evaluate the spline. |
order | : order of derivative. |
- Returns
, point corresponding on derivative curve of order N at time t.
Implemented in curves::polynomial< Time, Numeric, Safe, Point, T_Point >, curves::bezier_curve< Time, Numeric, Safe, Point >, curves::cubic_hermite_spline< Time, Numeric, Safe, Point >, curves::piecewise_curve< Time, Numeric, Safe, Point, T_Point, Curve >, curves::piecewise_curve< Numeric, Numeric, Safe, point_one_dim_t, std::vector< point_one_dim_t, Eigen::aligned_allocator< point_one_dim_t > >, polynomial< Numeric, Numeric, Safe, point_one_dim_t, std::vector< point_one_dim_t, Eigen::aligned_allocator< point_one_dim_t > > > >, and curves::piecewise_curve< Time, Numeric, Safe, Point, T_Point, SplineBase >.
Referenced by curves::curve_abc< Numeric, Numeric, Safe, point_one_dim_t >::~curve_abc().
template<typename Time = double, typename Numeric = Time, bool Safe = false, typename Point = Eigen::Matrix<Numeric, Eigen::Dynamic, 1>>
Get dimension of curve.
- Returns
- dimension of curve.
Implemented in curves::piecewise_curve< Time, Numeric, Safe, Point, T_Point, Curve >, curves::piecewise_curve< Numeric, Numeric, Safe, point_one_dim_t, std::vector< point_one_dim_t, Eigen::aligned_allocator< point_one_dim_t > >, polynomial< Numeric, Numeric, Safe, point_one_dim_t, std::vector< point_one_dim_t, Eigen::aligned_allocator< point_one_dim_t > > > >, curves::piecewise_curve< Time, Numeric, Safe, Point, T_Point, SplineBase >, curves::polynomial< Time, Numeric, Safe, Point, T_Point >, curves::cubic_hermite_spline< Time, Numeric, Safe, Point >, and curves::helpers::rotation_spline.
Referenced by curves::bezier_curve< Time, Numeric, Safe, Point >::evalBernstein(), and curves::curve_abc< Numeric, Numeric, Safe, point_one_dim_t >::~curve_abc().
template<typename Time = double, typename Numeric = Time, bool Safe = false, typename Point = Eigen::Matrix<Numeric, Eigen::Dynamic, 1>>
Get the maximum time for which the curve is defined.
- Returns
, upper bound of time range.
Implemented in curves::piecewise_curve< Time, Numeric, Safe, Point, T_Point, Curve >, curves::piecewise_curve< Numeric, Numeric, Safe, point_one_dim_t, std::vector< point_one_dim_t, Eigen::aligned_allocator< point_one_dim_t > >, polynomial< Numeric, Numeric, Safe, point_one_dim_t, std::vector< point_one_dim_t, Eigen::aligned_allocator< point_one_dim_t > > > >, curves::piecewise_curve< Time, Numeric, Safe, Point, T_Point, SplineBase >, curves::polynomial< Time, Numeric, Safe, Point, T_Point >, curves::cubic_hermite_spline< Time, Numeric, Safe, Point >, and curves::helpers::rotation_spline.
Referenced by curves::bezier_curve< Time, Numeric, Safe, Point >::evalBernstein(), curves::curve_abc< Numeric, Numeric, Safe, point_one_dim_t >::timeRange(), and curves::curve_abc< Numeric, Numeric, Safe, point_one_dim_t >::~curve_abc().
template<typename Time = double, typename Numeric = Time, bool Safe = false, typename Point = Eigen::Matrix<Numeric, Eigen::Dynamic, 1>>
Get the minimum time for which the curve is defined.
- Returns
, lower bound of time range.
Implemented in curves::piecewise_curve< Time, Numeric, Safe, Point, T_Point, Curve >, curves::piecewise_curve< Numeric, Numeric, Safe, point_one_dim_t, std::vector< point_one_dim_t, Eigen::aligned_allocator< point_one_dim_t > >, polynomial< Numeric, Numeric, Safe, point_one_dim_t, std::vector< point_one_dim_t, Eigen::aligned_allocator< point_one_dim_t > > > >, curves::piecewise_curve< Time, Numeric, Safe, Point, T_Point, SplineBase >, curves::polynomial< Time, Numeric, Safe, Point, T_Point >, curves::cubic_hermite_spline< Time, Numeric, Safe, Point >, and curves::helpers::rotation_spline.
Referenced by curves::bezier_curve< Time, Numeric, Safe, Point >::evalBernstein(), curves::curve_abc< Numeric, Numeric, Safe, point_one_dim_t >::timeRange(), and curves::curve_abc< Numeric, Numeric, Safe, point_one_dim_t >::~curve_abc().
template<typename Time = double, typename Numeric = Time, bool Safe = false, typename Point = Eigen::Matrix<Numeric, Eigen::Dynamic, 1>>
Evaluation of the cubic spline at time t.
- Parameters
-
t | : time when to evaluate the spine |
- Returns
, point corresponding on curve at time t.
Implemented in curves::polynomial< Time, Numeric, Safe, Point, T_Point >, curves::bezier_curve< Time, Numeric, Safe, Point >, curves::cubic_hermite_spline< Time, Numeric, Safe, Point >, curves::piecewise_curve< Time, Numeric, Safe, Point, T_Point, Curve >, curves::piecewise_curve< Numeric, Numeric, Safe, point_one_dim_t, std::vector< point_one_dim_t, Eigen::aligned_allocator< point_one_dim_t > >, polynomial< Numeric, Numeric, Safe, point_one_dim_t, std::vector< point_one_dim_t, Eigen::aligned_allocator< point_one_dim_t > > > >, and curves::piecewise_curve< Time, Numeric, Safe, Point, T_Point, SplineBase >.
Referenced by curves::curve_abc< Numeric, Numeric, Safe, point_one_dim_t >::~curve_abc().