Represents a set of cubic splines defining a continuous function crossing each of the waypoint given in its initialization.
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typedef Point | point_t |
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typedef T_Point | t_point_t |
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typedef Eigen::Matrix< Numeric, Eigen::Dynamic, Eigen::Dynamic > | MatrixX |
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typedef Eigen::Matrix< Numeric, 3, 3 > | Matrix3 |
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typedef Time | time_t |
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typedef Numeric | num_t |
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typedef polynom< time_t, Numeric, Dim, Safe, point_t, t_point_t > | spline_t |
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typedef exact_cubic< time_t, Numeric, Dim, Safe, point_t, t_point_t > | exact_cubic_t |
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typedef std::vector< spline_t > | t_spline_t |
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typedef t_spline_t::iterator | it_spline_t |
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typedef t_spline_t::const_iterator | cit_spline_t |
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typedef curve_constraints< point_t > | spline_constraints |
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typedef Point | point_t |
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typedef T_Point | t_point_t |
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typedef Eigen::Matrix< Numeric, Eigen::Dynamic, Eigen::Dynamic > | MatrixX |
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typedef Time | time_t |
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typedef Numeric | num_t |
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typedef SplineBase | spline_t |
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typedef std::vector< spline_t > | t_spline_t |
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typedef t_spline_t::iterator | it_spline_t |
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typedef t_spline_t::const_iterator | cit_spline_t |
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typedef curve_abc< Time, Numeric, Dim, Safe, Point > | curve_abc_t |
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typedef Point | point_t |
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typedef Time | time_t |
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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> >, typename SplineBase = polynom<Time, Numeric, Dim, Safe, Point, T_Point>>
class curve::spline_deriv_constraint< Time, Numeric, Dim, Safe, Point, T_Point, SplineBase >
Represents a set of cubic splines defining a continuous function crossing each of the waypoint given in its initialization.
Additional constraints are used to increase the order of the last spline, to start and finish trajectory with user defined velocity and acceleration.
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> >, typename SplineBase = polynom<Time, Numeric, Dim, Safe, Point, T_Point>>
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> >, typename SplineBase = polynom<Time, Numeric, Dim, Safe, Point, T_Point>>
typedef exact_cubic<time_t, Numeric, Dim, Safe, point_t, t_point_t> curve::spline_deriv_constraint< Time, Numeric, Dim, Safe, Point, T_Point, SplineBase >::exact_cubic_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> >, typename SplineBase = polynom<Time, Numeric, Dim, Safe, Point, T_Point>>
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> >, typename SplineBase = polynom<Time, Numeric, Dim, Safe, Point, T_Point>>
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> >, typename SplineBase = polynom<Time, Numeric, Dim, Safe, Point, T_Point>>
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> >, typename SplineBase = polynom<Time, Numeric, Dim, Safe, Point, T_Point>>
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> >, typename SplineBase = polynom<Time, Numeric, Dim, Safe, Point, T_Point>>
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> >, typename SplineBase = polynom<Time, Numeric, Dim, Safe, Point, T_Point>>
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> >, typename SplineBase = polynom<Time, Numeric, Dim, Safe, Point, T_Point>>
typedef polynom<time_t, Numeric, Dim, Safe, point_t, t_point_t> curve::spline_deriv_constraint< Time, Numeric, Dim, Safe, Point, T_Point, SplineBase >::spline_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> >, typename SplineBase = polynom<Time, Numeric, Dim, Safe, Point, T_Point>>
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> >, typename SplineBase = polynom<Time, Numeric, Dim, Safe, Point, T_Point>>
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> >, typename SplineBase = polynom<Time, Numeric, Dim, Safe, Point, T_Point>>
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> >, typename SplineBase = polynom<Time, Numeric, Dim, Safe, Point, T_Point>>
template<typename In >
Constructor.
- Parameters
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wayPointsBegin | : an iterator pointing to the first element of a waypoint container |
wayPointsEnd | : an iterator pointing to the end of a waypoint container |
constraints | : constraints on the init and end velocity / accelerations of the spline |
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> >, typename SplineBase = polynom<Time, Numeric, Dim, Safe, Point, T_Point>>
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> >, typename SplineBase = polynom<Time, Numeric, Dim, Safe, Point, T_Point>>
curve::spline_deriv_constraint< Time, Numeric, Dim, Safe, Point, T_Point, SplineBase >::spline_deriv_constraint |
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const spline_deriv_constraint< Time, Numeric, Dim, Safe, Point, T_Point, SplineBase > & |
other | ) |
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inline |