hpp-spline
4.10.0
template based classes for creating and manipulating spline and bezier curves. Comes with extra options specific to end-effector trajectories in robotics.
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#include "hpp/spline/spline_deriv_constraint.h"
Go to the source code of this file.
Namespaces | |
spline | |
spline::helpers | |
Typedefs | |
typedef double | spline::helpers::Numeric |
typedef double | spline::helpers::Time |
typedef Eigen::Matrix< Numeric, 3, 1 > | spline::helpers::Point |
typedef std::vector< Point, Eigen::aligned_allocator< Point > > | spline::helpers::T_Point |
typedef std::pair< double, Point > | spline::helpers::Waypoint |
typedef std::vector< Waypoint > | spline::helpers::T_Waypoint |
typedef spline_deriv_constraint< Time, Numeric, 3, true, Point, T_Point > | spline::helpers::spline_deriv_constraint_t |
typedef spline_deriv_constraint_t::spline_constraints | spline::helpers::spline_constraints_t |
typedef spline_deriv_constraint_t::exact_cubic_t | spline::helpers::exact_cubic_t |
typedef spline_deriv_constraint_t::t_spline_t | spline::helpers::t_spline_t |
typedef spline_deriv_constraint_t::spline_t | spline::helpers::spline_t |
Functions | |
Waypoint | spline::helpers::compute_offset (const Waypoint &source, const Point &normal, const Numeric offset, const Time time_offset) |
spline_t | spline::helpers::make_end_spline (const Point &normal, const Point &from, const Numeric offset, const Time init_time, const Time time_offset) |
spline_constraints_t | spline::helpers::compute_required_offset_velocity_acceleration (const spline_t &end_spline, const Time) |
template<typename In > | |
exact_cubic_t * | spline::helpers::effector_spline (In wayPointsBegin, In wayPointsEnd, const Point &lift_normal=Eigen::Vector3d::UnitZ(), const Point &land_normal=Eigen::Vector3d::UnitZ(), const Numeric lift_offset=0.02, const Numeric land_offset=0.02, const Time lift_offset_duration=0.02, const Time land_offset_duration=0.02) |
Helper method to create a spline typically used to guide the 3d trajectory of a robot end effector. Given a set of waypoints, and the normal vector of the start and ending positions, automatically create the spline such that: More... | |