curve::polynom< Time, Numeric, Dim, Safe, Point, T_Point > Class Template Reference

Represents a polynomf arbitrary order defined on the interval [tBegin, tEnd]. More...

#include <curve/polynom.h>

Inheritance diagram for curve::polynom< Time, Numeric, Dim, Safe, Point, T_Point >:
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Collaboration diagram for curve::polynom< Time, Numeric, Dim, Safe, Point, T_Point >:
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Public Types

typedef Point point_t
 
typedef T_Point t_point_t
 
typedef Time time_t
 
typedef Numeric num_t
 
typedef curve_abc< Time, Numeric, Dim, Safe, Point > curve_abc_t
 
typedef Eigen::Matrix< double, Dim, Eigen::Dynamic > coeff_t
 
typedef Eigen::Ref< coeff_tcoeff_t_ref
 
- Public Types inherited from curve::curve_abc< Time, Numeric, Dim, Safe, Point >
typedef Point point_t
 
typedef Time time_t
 

Public Member Functions

 polynom (const coeff_t &coefficients, const time_t min, const time_t max)
 Constructor. More...
 
 polynom (const T_Point &coefficients, const time_t min, const time_t max)
 Constructor. More...
 
template<typename In >
 polynom (In zeroOrderCoefficient, In out, const time_t min, const time_t max)
 Constructor. More...
 
 ~polynom ()
 Destructor. More...
 
 polynom (const polynom &other)
 
virtual point_t operator() (const time_t t) const
 Evaluation of the cubic spline at time t using horner's scheme. More...
 
virtual point_t derivate (const time_t t, const std::size_t order) const
 Evaluation of the derivative spline at time t. More...
 
virtual num_t min () const
 Returns the minimum time for wich curve is defined. More...
 
virtual num_t max () const
 Returns the maximum time for wich curve is defined. More...
 
- Public Member Functions inherited from curve::curve_abc< Time, Numeric, Dim, Safe, Point >
 curve_abc ()
 Constructor. More...
 
virtual ~curve_abc ()
 Destructor. More...
 
std::pair< time_t, time_ttimeRange ()
 

Public Attributes

coeff_t coefficients_
 
std::size_t dim_
 
std::size_t order_
 

Detailed Description

template<typename Time = double, typename Numeric = Time, std::size_t Dim = 3, bool Safe = false, typename Point = Eigen::Matrix<Numeric, Dim, 1>, typename T_Point = std::vector<Point,Eigen::aligned_allocator<Point> >>
class curve::polynom< Time, Numeric, Dim, Safe, Point, T_Point >

Represents a polynomf 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

Member Typedef Documentation

◆ coeff_t

template<typename Time = double, typename Numeric = Time, std::size_t Dim = 3, bool Safe = false, typename Point = Eigen::Matrix<Numeric, Dim, 1>, typename T_Point = std::vector<Point,Eigen::aligned_allocator<Point> >>
typedef Eigen::Matrix<double, Dim, Eigen::Dynamic> curve::polynom< Time, Numeric, Dim, Safe, Point, T_Point >::coeff_t

◆ coeff_t_ref

template<typename Time = double, typename Numeric = Time, std::size_t Dim = 3, bool Safe = false, typename Point = Eigen::Matrix<Numeric, Dim, 1>, typename T_Point = std::vector<Point,Eigen::aligned_allocator<Point> >>
typedef Eigen::Ref<coeff_t> curve::polynom< Time, Numeric, Dim, Safe, Point, T_Point >::coeff_t_ref

◆ curve_abc_t

template<typename Time = double, typename Numeric = Time, std::size_t Dim = 3, bool Safe = false, typename Point = Eigen::Matrix<Numeric, Dim, 1>, typename T_Point = std::vector<Point,Eigen::aligned_allocator<Point> >>
typedef curve_abc<Time, Numeric, Dim, Safe, Point> curve::polynom< Time, Numeric, Dim, Safe, Point, T_Point >::curve_abc_t

◆ num_t

template<typename Time = double, typename Numeric = Time, std::size_t Dim = 3, bool Safe = false, typename Point = Eigen::Matrix<Numeric, Dim, 1>, typename T_Point = std::vector<Point,Eigen::aligned_allocator<Point> >>
typedef Numeric curve::polynom< Time, Numeric, Dim, Safe, Point, T_Point >::num_t

◆ point_t

template<typename Time = double, typename Numeric = Time, std::size_t Dim = 3, bool Safe = false, typename Point = Eigen::Matrix<Numeric, Dim, 1>, typename T_Point = std::vector<Point,Eigen::aligned_allocator<Point> >>
typedef Point curve::polynom< Time, Numeric, Dim, Safe, Point, T_Point >::point_t

◆ t_point_t

template<typename Time = double, typename Numeric = Time, std::size_t Dim = 3, bool Safe = false, typename Point = Eigen::Matrix<Numeric, Dim, 1>, typename T_Point = std::vector<Point,Eigen::aligned_allocator<Point> >>
typedef T_Point curve::polynom< Time, Numeric, Dim, Safe, Point, T_Point >::t_point_t

◆ time_t

template<typename Time = double, typename Numeric = Time, std::size_t Dim = 3, bool Safe = false, typename Point = Eigen::Matrix<Numeric, Dim, 1>, typename T_Point = std::vector<Point,Eigen::aligned_allocator<Point> >>
typedef Time curve::polynom< Time, Numeric, Dim, Safe, Point, T_Point >::time_t

Constructor & Destructor Documentation

◆ polynom() [1/4]

template<typename Time = double, typename Numeric = Time, std::size_t Dim = 3, bool Safe = false, typename Point = Eigen::Matrix<Numeric, Dim, 1>, typename T_Point = std::vector<Point,Eigen::aligned_allocator<Point> >>
curve::polynom< Time, Numeric, Dim, Safe, Point, T_Point >::polynom ( const coeff_t coefficients,
const time_t  min,
const time_t  max 
)
inline

Constructor.

Parameters
coefficients: a reference to an Eigen matrix where each column is a coefficient, from the zero order coefficient, up to the highest order. Spline order is given by the number of the columns -1.
minLOWER bound on interval definition of the spline
maxUPPER bound on interval definition of the spline

◆ polynom() [2/4]

template<typename Time = double, typename Numeric = Time, std::size_t Dim = 3, bool Safe = false, typename Point = Eigen::Matrix<Numeric, Dim, 1>, typename T_Point = std::vector<Point,Eigen::aligned_allocator<Point> >>
curve::polynom< Time, Numeric, Dim, Safe, Point, T_Point >::polynom ( const T_Point &  coefficients,
const time_t  min,
const time_t  max 
)
inline

Constructor.

Parameters
coefficients: a container containing all coefficients of the spline, starting with the zero order coefficient, up to the highest order. Spline order is given by the size of the coefficients
minLOWER bound on interval definition of the spline
maxUPPER bound on interval definition of the spline

◆ polynom() [3/4]

template<typename Time = double, typename Numeric = Time, std::size_t Dim = 3, bool Safe = false, typename Point = Eigen::Matrix<Numeric, Dim, 1>, typename T_Point = std::vector<Point,Eigen::aligned_allocator<Point> >>
template<typename In >
curve::polynom< Time, Numeric, Dim, Safe, Point, T_Point >::polynom ( In  zeroOrderCoefficient,
In  out,
const time_t  min,
const time_t  max 
)
inline

Constructor.

Parameters
zeroOrderCoefficient: an iterator pointing to the first element of a structure containing the coefficients it corresponds to the zero degree coefficient
out: an iterator pointing to the last element of a structure ofcoefficients
minLOWER bound on interval definition of the spline
maxUPPER bound on interval definition of the spline

◆ ~polynom()

template<typename Time = double, typename Numeric = Time, std::size_t Dim = 3, bool Safe = false, typename Point = Eigen::Matrix<Numeric, Dim, 1>, typename T_Point = std::vector<Point,Eigen::aligned_allocator<Point> >>
curve::polynom< Time, Numeric, Dim, Safe, Point, T_Point >::~polynom ( )
inline

Destructor.

◆ polynom() [4/4]

template<typename Time = double, typename Numeric = Time, std::size_t Dim = 3, bool Safe = false, typename Point = Eigen::Matrix<Numeric, Dim, 1>, typename T_Point = std::vector<Point,Eigen::aligned_allocator<Point> >>
curve::polynom< Time, Numeric, Dim, Safe, Point, T_Point >::polynom ( const polynom< Time, Numeric, Dim, Safe, Point, T_Point > &  other)
inline

Member Function Documentation

◆ derivate()

template<typename Time = double, typename Numeric = Time, std::size_t Dim = 3, bool Safe = false, typename Point = Eigen::Matrix<Numeric, Dim, 1>, typename T_Point = std::vector<Point,Eigen::aligned_allocator<Point> >>
virtual point_t curve::polynom< Time, Numeric, Dim, Safe, Point, T_Point >::derivate ( const time_t  t,
const std::size_t  order 
) const
inlinevirtual

Evaluation of the derivative spline at time t.

Parameters
t: the time when to evaluate the spline
order: order of the derivative
return: the value x(t)

Implements curve::curve_abc< Time, Numeric, Dim, Safe, Point >.

References curve::polynom< Time, Numeric, Dim, Safe, Point, T_Point >::coefficients_, and curve::polynom< Time, Numeric, Dim, Safe, Point, T_Point >::order_.

Referenced by curve::helpers::compute_required_offset_velocity_acceleration().

◆ max()

template<typename Time = double, typename Numeric = Time, std::size_t Dim = 3, bool Safe = false, typename Point = Eigen::Matrix<Numeric, Dim, 1>, typename T_Point = std::vector<Point,Eigen::aligned_allocator<Point> >>
virtual num_t curve::polynom< Time, Numeric, Dim, Safe, Point, T_Point >::max ( ) const
inlinevirtual

Returns the maximum time for wich curve is defined.

Implements curve::curve_abc< Time, Numeric, Dim, Safe, Point >.

◆ min()

template<typename Time = double, typename Numeric = Time, std::size_t Dim = 3, bool Safe = false, typename Point = Eigen::Matrix<Numeric, Dim, 1>, typename T_Point = std::vector<Point,Eigen::aligned_allocator<Point> >>
virtual num_t curve::polynom< Time, Numeric, Dim, Safe, Point, T_Point >::min ( ) const
inlinevirtual

Returns the minimum time for wich curve is defined.

Implements curve::curve_abc< Time, Numeric, Dim, Safe, Point >.

Referenced by curve::helpers::compute_required_offset_velocity_acceleration().

◆ operator()()

template<typename Time = double, typename Numeric = Time, std::size_t Dim = 3, bool Safe = false, typename Point = Eigen::Matrix<Numeric, Dim, 1>, typename T_Point = std::vector<Point,Eigen::aligned_allocator<Point> >>
virtual point_t curve::polynom< Time, Numeric, Dim, Safe, Point, T_Point >::operator() ( const time_t  t) const
inlinevirtual

Evaluation of the cubic spline at time t using horner's scheme.

Parameters
t: the time when to evaluate the spine
return: the value x(t)

Implements curve::curve_abc< Time, Numeric, Dim, Safe, Point >.

References curve::polynom< Time, Numeric, Dim, Safe, Point, T_Point >::coefficients_, and curve::polynom< Time, Numeric, Dim, Safe, Point, T_Point >::order_.

Member Data Documentation

◆ coefficients_

template<typename Time = double, typename Numeric = Time, std::size_t Dim = 3, bool Safe = false, typename Point = Eigen::Matrix<Numeric, Dim, 1>, typename T_Point = std::vector<Point,Eigen::aligned_allocator<Point> >>
coeff_t curve::polynom< Time, Numeric, Dim, Safe, Point, T_Point >::coefficients_

◆ dim_

template<typename Time = double, typename Numeric = Time, std::size_t Dim = 3, bool Safe = false, typename Point = Eigen::Matrix<Numeric, Dim, 1>, typename T_Point = std::vector<Point,Eigen::aligned_allocator<Point> >>
std::size_t curve::polynom< Time, Numeric, Dim, Safe, Point, T_Point >::dim_

◆ order_

template<typename Time = double, typename Numeric = Time, std::size_t Dim = 3, bool Safe = false, typename Point = Eigen::Matrix<Numeric, Dim, 1>, typename T_Point = std::vector<Point,Eigen::aligned_allocator<Point> >>
std::size_t curve::polynom< Time, Numeric, Dim, Safe, Point, T_Point >::order_