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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11 #ifndef _STRUCT_CURVE_ABC
12 #define _STRUCT_CURVE_ABC
22 template <
typename Time = double,
typename Numeric =
Time, std::size_t Dim = 3,
bool Safe =
false,
23 typename Point = Eigen::Matrix<Numeric, Dim, 1> >
24 struct curve_abc : std::unary_function<Time, Point> {
62 #endif //_STRUCT_CURVE_ABC
curve_abc()
Constructor.
Definition: curve_abc.h:31
Point point_t
Definition: curve_abc.h:25
std::pair< time_t, time_t > timeRange()
Definition: curve_abc.h:58
virtual point_t derivate(const time_t t, const std::size_t order) const =0
Evaluation of the derivative spline at time t.
double Numeric
Definition: effector_spline.h:26
double Time
Definition: effector_spline.h:27
Eigen::Matrix< Numeric, 3, 1 > Point
Definition: effector_spline.h:28
virtual point_t operator()(const time_t t) const =0
Evaluation of the cubic spline at time t.
virtual time_t min() const =0
Returns the minimum time for wich curve is defined.
Represents a curve of dimension Dim is Safe is false, no verification is made on the evaluation of th...
Definition: curve_abc.h:24
virtual time_t max() const =0
Returns the maximum time for wich curve is defined.
virtual ~curve_abc()
Destructor.
Definition: curve_abc.h:34
Definition: bernstein.h:20
Time time_t
Definition: curve_abc.h:26