Namespaces | |
helpers | |
Classes | |
struct | Bern |
struct | bezier_curve |
struct | curve_abc |
Represents a curve of dimension Dim is Safe is false, no verification is made on the evaluation of the curve. More... | |
struct | curve_constraints |
struct | exact_cubic |
struct | linear_variable |
class | polynom |
Represents a polynomf arbitrary order defined on the interval [tBegin, tEnd]. More... | |
class | spline_deriv_constraint |
Represents a set of cubic splines defining a continuous function crossing each of the waypoint given in its initialization. More... | |
class | SplineOptimizer |
Mosek connection to produce optimized splines. More... | |
struct | variables |
Functions | |
unsigned int | fact (const unsigned int n) |
Computes factorial of a number. More... | |
unsigned int | bin (const unsigned int n, const unsigned int k) |
Computes a binomal coefficient. More... | |
template<typename Numeric > | |
std::vector< Bern< Numeric > > | makeBernstein (const unsigned int n) |
Computes all Bernstein polynomes for a certain degree. More... | |
template<typename Bezier , typename Polynom > | |
Polynom | from_bezier (const Bezier &curve) |
Provides methods for converting a curve from a bernstein representation to a polynom representation. More... | |
template<typename Point , typename T_Point > | |
T_Point | make_cubic_vector (Point const &a, Point const &b, Point const &c, Point const &d) |
Creates coefficient vector of a cubic spline defined on the interval [tBegin, tEnd]. More... | |
template<typename Time , typename Numeric , std::size_t Dim, bool Safe, typename Point , typename T_Point > | |
polynom< Time, Numeric, Dim, Safe, Point, T_Point > | create_cubic (Point const &a, Point const &b, Point const &c, Point const &d, const Time min, const Time max) |
template<int D, typename N > | |
linear_variable< D, N > | operator+ (const linear_variable< D, N > &w1, const linear_variable< D, N > &w2) |
template<int D, typename N > | |
linear_variable< D, N > | operator- (const linear_variable< D, N > &w1, const linear_variable< D, N > &w2) |
template<int D, typename N > | |
linear_variable< D, N > | operator* (const double k, const linear_variable< D, N > &w) |
template<int D, typename N > | |
linear_variable< D, N > | operator* (const linear_variable< D, N > &w, const double k) |
template<int D, typename N > | |
linear_variable< D, N > | operator/ (const linear_variable< D, N > &w, const double k) |
template<typename V > | |
variables< V > | operator+ (const variables< V > &w1, const variables< V > &w2) |
template<typename V > | |
variables< V > | operator- (const variables< V > &w1, const variables< V > &w2) |
template<typename V > | |
variables< V > | operator* (const double k, const variables< V > &w) |
template<typename V > | |
variables< V > | operator* (const variables< V > &w, const double k) |
template<typename V > | |
variables< V > | operator/ (const variables< V > &w, const double k) |
template<typename _Matrix_Type_ > | |
void | PseudoInverse (_Matrix_Type_ &pinvmat) |
template<typename Point , typename T_Point > | |
T_Point | make_quintic_vector (Point const &a, Point const &b, Point const &c, Point const &d, Point const &e, Point const &f) |
Creates coefficient vector of a quintic spline defined on the interval [tBegin, tEnd]. More... | |
template<typename Time , typename Numeric , std::size_t Dim, bool Safe, typename Point , typename T_Point > | |
polynom< Time, Numeric, Dim, Safe, Point, T_Point > | create_quintic (Point const &a, Point const &b, Point const &c, Point const &d, Point const &e, Point const &f, const Time min, const Time max) |
|
inline |
Computes a binomal coefficient.
References fact().
polynom<Time,Numeric,Dim,Safe,Point,T_Point> curve::create_cubic | ( | Point const & | a, |
Point const & | b, | ||
Point const & | c, | ||
Point const & | d, | ||
const Time | min, | ||
const Time | max | ||
) |
polynom<Time,Numeric,Dim,Safe,Point,T_Point> curve::create_quintic | ( | Point const & | a, |
Point const & | b, | ||
Point const & | c, | ||
Point const & | d, | ||
Point const & | e, | ||
Point const & | f, | ||
const Time | min, | ||
const Time | max | ||
) |
|
inline |
Computes factorial of a number.
Referenced by bin(), and from_bezier().
Polynom curve::from_bezier | ( | const Bezier & | curve | ) |
Provides methods for converting a curve from a bernstein representation to a polynom representation.
Converts a Bezier curve to a polynom
bezier | the Bezier curve to be converted from |
References fact().
T_Point curve::make_cubic_vector | ( | Point const & | a, |
Point const & | b, | ||
Point const & | c, | ||
Point const & | d | ||
) |
Creates coefficient vector of a cubic spline defined on the interval [tBegin, tEnd].
It follows the equation x(t) = a + b(t - t_min_) + c(t - t_min_)^2 + d(t - t_min_)^3
T_Point curve::make_quintic_vector | ( | Point const & | a, |
Point const & | b, | ||
Point const & | c, | ||
Point const & | d, | ||
Point const & | e, | ||
Point const & | f | ||
) |
Creates coefficient vector of a quintic spline defined on the interval [tBegin, tEnd].
It follows the equation x(t) = a + b(t - t_min_) + c(t - t_min_)^2 + d(t - t_min_)^3 + e(t - t_min_)^4 + f(t - t_min_)^5
std::vector<Bern<Numeric> > curve::makeBernstein | ( | const unsigned int | n | ) |
Computes all Bernstein polynomes for a certain degree.
linear_variable<D,N> curve::operator* | ( | const double | k, |
const linear_variable< D, N > & | w | ||
) |
linear_variable<D,N> curve::operator* | ( | const linear_variable< D, N > & | w, |
const double | k | ||
) |
References curve::variables< Var >::variables_.
References curve::variables< Var >::variables_.
|
inline |
variables<V> curve::operator+ | ( | const variables< V > & | w1, |
const variables< V > & | w2 | ||
) |
References curve::variables< Var >::variables_.
linear_variable<D,N> curve::operator- | ( | const linear_variable< D, N > & | w1, |
const linear_variable< D, N > & | w2 | ||
) |
variables<V> curve::operator- | ( | const variables< V > & | w1, |
const variables< V > & | w2 | ||
) |
References curve::variables< Var >::variables_.
linear_variable<D,N> curve::operator/ | ( | const linear_variable< D, N > & | w, |
const double | k | ||
) |
References curve::variables< Var >::variables_.
void curve::PseudoInverse | ( | _Matrix_Type_ & | pinvmat | ) |