hpp-bezier-com-traj  4.10.1
Multi contact trajectory generation for the COM using Bezier curves
waypoints_definition.hh
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1 /*
2  * Copyright 2018, LAAS-CNRS
3  * Author: Pierre Fernbach
4  */
5 
6 #ifndef BEZIER_COM_TRAJ_WP_DEF_H
7 #define BEZIER_COM_TRAJ_WP_DEF_H
8 
10 
11 namespace bezier_com_traj {
23 coefs_t evaluateCurveAtTime(const ProblemData& pData, const std::vector<point_t>& pi, double t);
24 
31 coefs_t evaluateVelocityCurveAtTime(const ProblemData& pData, const std::vector<point_t>& pi, double T, double t);
32 
39 coefs_t evaluateAccelerationCurveAtTime(const ProblemData& pData, const std::vector<point_t>& pi, double T, double t);
40 
47 coefs_t evaluateJerkCurveAtTime(const ProblemData& pData, const std::vector<point_t>& pi, double T, double t);
48 
56 std::vector<point_t> computeConstantWaypoints(const ProblemData& pData, double T);
57 
65 bezier_wp_t::t_point_t computeConstantWaypointsSymbolic(const ProblemData& pData, double T);
66 
74 std::vector<waypoint_t> computeVelocityWaypoints(const ProblemData& pData, const double T,
75  std::vector<bezier_t::point_t> pi = std::vector<bezier_t::point_t>());
76 
84 std::vector<waypoint_t> computeAccelerationWaypoints(
85  const ProblemData& pData, const double T, std::vector<bezier_t::point_t> pi = std::vector<bezier_t::point_t>());
86 
94 std::vector<waypoint_t> computeJerkWaypoints(const ProblemData& pData, const double T,
95  std::vector<bezier_t::point_t> pi = std::vector<bezier_t::point_t>());
96 
97 waypoint_t evaluateCurveWaypointAtTime(const ProblemData& pData, const std::vector<point_t>& pi, double t);
98 waypoint_t evaluateVelocityCurveWaypointAtTime(const ProblemData& pData, const double T,
99  const std::vector<point_t>& pi, double t);
100 waypoint_t evaluateAccelerationCurveWaypointAtTime(const ProblemData& pData, const double T,
101  const std::vector<point_t>& pi, double t);
102 waypoint_t evaluateJerkCurveWaypointAtTime(const ProblemData& pData, const double T, const std::vector<point_t>& pi,
103  double t);
104 
112 bezier_wp_t::t_point_t computeWwaypoints(const ProblemData& pData, double T);
113 
114 coefs_t computeFinalVelocityPoint(const ProblemData& pData, double T);
115 
116 int dimVar(const ProblemData& pData);
117 
118 std::pair<MatrixXX, VectorX> computeVelocityCost(const ProblemData& pData, double T,
119  std::vector<bezier_t::point_t> pi = std::vector<bezier_t::point_t>());
120 
121 } // namespace bezier_com_traj
122 
123 #endif
bezier_com_traj::evaluateCurveWaypointAtTime
waypoint_t evaluateCurveWaypointAtTime(const ProblemData &pData, const std::vector< point_t > &pi, double t)
evaluateCurveAtTime compute the expression of the point on the curve c at t, defined by the waypoint ...
Definition: waypoints_definition.cpp:116
bezier_com_traj::evaluateAccelerationCurveWaypointAtTime
waypoint_t evaluateAccelerationCurveWaypointAtTime(const ProblemData &pData, const double T, const std::vector< point_t > &pi, double t)
evaluateCurveAtTime compute the expression of the point on the curve c at t, defined by the waypoint ...
Definition: waypoints_definition.cpp:165
bezier_com_traj::computeAccelerationWaypoints
std::vector< waypoint_t > computeAccelerationWaypoints(const ProblemData &pData, const double T, std::vector< bezier_t::point_t > pi=std::vector< bezier_t::point_t >())
computeWwaypoints compute the constant waypoints of ddc(t) defined by the constraints on initial and ...
Definition: waypoints_definition.cpp:290
bezier_com_traj::evaluateVelocityCurveAtTime
coefs_t evaluateVelocityCurveAtTime(const ProblemData &pData, const std::vector< point_t > &pi, double T, double t)
evaluateVelocityCurveAtTime compute the expression of the point on the curve dc at t,...
bezier_com_traj::computeFinalVelocityPoint
coefs_t computeFinalVelocityPoint(const ProblemData &pData, double T)
Definition: waypoints_definition.cpp:364
bezier_com_traj::coefs_t
std::pair< double, point3_t > coefs_t
Definition: definitions.hh:61
bezier_com_traj::computeJerkWaypoints
std::vector< waypoint_t > computeJerkWaypoints(const ProblemData &pData, const double T, std::vector< bezier_t::point_t > pi=std::vector< bezier_t::point_t >())
computeWwaypoints compute the constant waypoints of dddc(t) defined by the constraints on initial and...
Definition: waypoints_definition.cpp:316
bezier_com_traj::computeVelocityCost
std::pair< MatrixXX, VectorX > computeVelocityCost(const ProblemData &pData, double T, std::vector< bezier_t::point_t > pi=std::vector< bezier_t::point_t >())
computeVelocityCost the matrices H and g defining a cost that minimise the integral of the squared ve...
Definition: waypoints_definition.cpp:389
bezier_com_traj::evaluateVelocityCurveWaypointAtTime
waypoint_t evaluateVelocityCurveWaypointAtTime(const ProblemData &pData, const double T, const std::vector< point_t > &pi, double t)
evaluateCurveAtTime compute the expression of the point on the curve c at t, defined by the waypoint ...
Definition: waypoints_definition.cpp:140
bezier_com_traj::dimVar
int dimVar(const ProblemData &pData)
Definition: waypoints_definition.cpp:30
bezier_com_traj::computeConstantWaypoints
std::vector< point_t > computeConstantWaypoints(const ProblemData &pData, double T)
computeConstantWaypoints compute the constant waypoints of c(t) defined by the constraints on initial...
Definition: waypoints_definition.cpp:222
bezier_com_traj::computeConstantWaypointsSymbolic
bezier_wp_t::t_point_t computeConstantWaypointsSymbolic(const ProblemData &pData, double T)
computeConstantWaypointsSymbolic compute the constant waypoints of c(t) defined by the constraints on...
Definition: waypoints_definition.cpp:232
bezier_com_traj::computeWwaypoints
bezier_wp_t::t_point_t computeWwaypoints(const ProblemData &pData, double T)
computeConstantWaypoints compute the constant waypoints of w(t) defined by the constraints on initial...
Definition: waypoints_definition.cpp:343
data.hh
bezier_com_traj::evaluateAccelerationCurveAtTime
coefs_t evaluateAccelerationCurveAtTime(const ProblemData &pData, const std::vector< point_t > &pi, double T, double t)
evaluateAccelerationCurveAtTime compute the expression of the point on the curve ddc at t,...
Definition: waypoints_definition.cpp:91
bezier_com_traj::evaluateCurveAtTime
coefs_t evaluateCurveAtTime(const ProblemData &pData, const std::vector< point_t > &pi, double t)
evaluateCurveAtTime compute the expression of the point on the curve c at t, defined by the waypoint ...
Definition: waypoints_definition.cpp:62
bezier_com_traj::computeVelocityWaypoints
std::vector< waypoint_t > computeVelocityWaypoints(const ProblemData &pData, const double T, std::vector< bezier_t::point_t > pi=std::vector< bezier_t::point_t >())
computeWwaypoints compute the constant waypoints of dc(t) defined by the constraints on initial and f...
Definition: waypoints_definition.cpp:264
bezier_com_traj::evaluateJerkCurveAtTime
coefs_t evaluateJerkCurveAtTime(const ProblemData &pData, const std::vector< point_t > &pi, double T, double t)
evaluateAccelerationCurveAtTime compute the expression of the point on the curve ddc at t,...
bezier_com_traj
Definition: common_solve_methods.hh:16
bezier_com_traj::evaluateJerkCurveWaypointAtTime
waypoint_t evaluateJerkCurveWaypointAtTime(const ProblemData &pData, const double T, const std::vector< point_t > &pi, double t)
evaluateCurveAtTime compute the expression of the point on the curve c at t, defined by the waypoint ...
Definition: waypoints_definition.cpp:190