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13 #ifndef _parameteric_curves_abstract_curve_hpp
14 #define _parameteric_curves_abstract_curve_hpp
20 template <
typename Numeric,
typename Po
int>
43 const std::size_t& order)
const = 0;
68 #endif //_STRUCT_CURVE_ABC
Point point_t
Definition: abstract-curve.hpp:22
virtual bool checkRange(const time_t t) const
Definition: abstract-curve.hpp:49
virtual bool setInitialPoint(const point_t &)=0
Numeric time_t
Definition: abstract-curve.hpp:23
Represents a curve of dimension Dim is Safe is false, no verification is made on the evaluation of th...
Definition: abstract-curve.hpp:21
virtual const time_t tmin() const
Definition: abstract-curve.hpp:47
virtual const point_t derivate(const time_t &t, const std::size_t &order) const =0
Evaluation of the derivative spline at time t.
virtual const point_t operator()(const time_t &t) const =0
Evaluation of the cubic spline at time t.
AbstractCurve()
Definition: abstract-curve.hpp:29
double Numeric
Definition: effector_spline.h:26
virtual bool setTimePeriod(const time_t &traj_time_)
Definition: abstract-curve.hpp:57
virtual ~AbstractCurve()
Definition: abstract-curve.hpp:30
Eigen::Matrix< Numeric, 3, 1 > Point
Definition: effector_spline.h:28
Numeric num_t
Definition: abstract-curve.hpp:24
AbstractCurve(time_t t_min_, time_t t_max_)
Definition: abstract-curve.hpp:28
virtual const time_t tmax() const
Definition: abstract-curve.hpp:48
time_t t_max
Definition: abstract-curve.hpp:65
Definition: abstract-curve.hpp:16
time_t t_min
Definition: abstract-curve.hpp:64