Represents a set of cubic splines defining a continuous function crossing each of the waypoint given in its initialization. Additional constraints are used to increase the order of the last spline, to start and finish trajectory with user defined velocity and acceleration.
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#include <hpp/spline/spline_deriv_constraint.h>
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typedef Point | point_t |
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typedef T_Point | t_point_t |
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typedef Eigen::Matrix< Numeric, Eigen::Dynamic, Eigen::Dynamic > | MatrixX |
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typedef Eigen::Matrix< Numeric, 3, 3 > | Matrix3 |
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typedef Time | time_t |
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typedef Numeric | num_t |
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typedef polynom< time_t, Numeric, Dim, Safe, point_t, t_point_t > | spline_t |
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typedef exact_cubic< time_t, Numeric, Dim, Safe, point_t, t_point_t > | exact_cubic_t |
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typedef std::vector< spline_t > | t_spline_t |
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typedef t_spline_t::iterator | it_spline_t |
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typedef t_spline_t::const_iterator | cit_spline_t |
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typedef curve_constraints< point_t > | spline_constraints |
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typedef Eigen::Matrix< double, 3, 1 > | point_t |
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typedef std::vector< Eigen::Matrix< double, 3, 1 >, Eigen::aligned_allocator< Eigen::Matrix< double, 3, 1 > > > | t_point_t |
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typedef Eigen::Matrix< double, Eigen::Dynamic, Eigen::Dynamic > | MatrixX |
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typedef double | time_t |
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typedef double | num_t |
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typedef polynom< double, double, 3, false, Eigen::Matrix< double, 3, 1 >, std::vector< Eigen::Matrix< double, 3, 1 >, Eigen::aligned_allocator< Eigen::Matrix< double, 3, 1 > > > > | spline_t |
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typedef std::vector< spline_t > | t_spline_t |
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typedef t_spline_t::iterator | it_spline_t |
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typedef t_spline_t::const_iterator | cit_spline_t |
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typedef curve_abc< double, double, Dim, Safe, Eigen::Matrix< double, 3, 1 > > | curve_abc_t |
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typedef Eigen::Matrix< double, 3, 1 > | point_t |
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typedef double | time_t |
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template<typename Time = double, typename Numeric = Time, std::size_t Dim = 3, bool Safe = false, typename Point = Eigen::Matrix<Numeric, Dim, 1>, typename T_Point = std::vector<Point, Eigen::aligned_allocator<Point> >, typename SplineBase = polynom<Time, Numeric, Dim, Safe, Point, T_Point>>
class spline::spline_deriv_constraint< Time, Numeric, Dim, Safe, Point, T_Point, SplineBase >
Represents a set of cubic splines defining a continuous function crossing each of the waypoint given in its initialization. Additional constraints are used to increase the order of the last spline, to start and finish trajectory with user defined velocity and acceleration.
◆ cit_spline_t
template<typename Time = double, typename Numeric = Time, std::size_t Dim = 3, bool Safe = false, typename Point = Eigen::Matrix<Numeric, Dim, 1>, typename T_Point = std::vector<Point, Eigen::aligned_allocator<Point> >, typename SplineBase = polynom<Time, Numeric, Dim, Safe, Point, T_Point>>
◆ exact_cubic_t
template<typename Time = double, typename Numeric = Time, std::size_t Dim = 3, bool Safe = false, typename Point = Eigen::Matrix<Numeric, Dim, 1>, typename T_Point = std::vector<Point, Eigen::aligned_allocator<Point> >, typename SplineBase = polynom<Time, Numeric, Dim, Safe, Point, T_Point>>
typedef exact_cubic<time_t, Numeric, Dim, Safe, point_t, t_point_t> spline::spline_deriv_constraint< Time, Numeric, Dim, Safe, Point, T_Point, SplineBase >::exact_cubic_t |
◆ it_spline_t
template<typename Time = double, typename Numeric = Time, std::size_t Dim = 3, bool Safe = false, typename Point = Eigen::Matrix<Numeric, Dim, 1>, typename T_Point = std::vector<Point, Eigen::aligned_allocator<Point> >, typename SplineBase = polynom<Time, Numeric, Dim, Safe, Point, T_Point>>
◆ Matrix3
template<typename Time = double, typename Numeric = Time, std::size_t Dim = 3, bool Safe = false, typename Point = Eigen::Matrix<Numeric, Dim, 1>, typename T_Point = std::vector<Point, Eigen::aligned_allocator<Point> >, typename SplineBase = polynom<Time, Numeric, Dim, Safe, Point, T_Point>>
◆ MatrixX
template<typename Time = double, typename Numeric = Time, std::size_t Dim = 3, bool Safe = false, typename Point = Eigen::Matrix<Numeric, Dim, 1>, typename T_Point = std::vector<Point, Eigen::aligned_allocator<Point> >, typename SplineBase = polynom<Time, Numeric, Dim, Safe, Point, T_Point>>
◆ num_t
template<typename Time = double, typename Numeric = Time, std::size_t Dim = 3, bool Safe = false, typename Point = Eigen::Matrix<Numeric, Dim, 1>, typename T_Point = std::vector<Point, Eigen::aligned_allocator<Point> >, typename SplineBase = polynom<Time, Numeric, Dim, Safe, Point, T_Point>>
◆ point_t
template<typename Time = double, typename Numeric = Time, std::size_t Dim = 3, bool Safe = false, typename Point = Eigen::Matrix<Numeric, Dim, 1>, typename T_Point = std::vector<Point, Eigen::aligned_allocator<Point> >, typename SplineBase = polynom<Time, Numeric, Dim, Safe, Point, T_Point>>
◆ spline_constraints
template<typename Time = double, typename Numeric = Time, std::size_t Dim = 3, bool Safe = false, typename Point = Eigen::Matrix<Numeric, Dim, 1>, typename T_Point = std::vector<Point, Eigen::aligned_allocator<Point> >, typename SplineBase = polynom<Time, Numeric, Dim, Safe, Point, T_Point>>
◆ spline_t
template<typename Time = double, typename Numeric = Time, std::size_t Dim = 3, bool Safe = false, typename Point = Eigen::Matrix<Numeric, Dim, 1>, typename T_Point = std::vector<Point, Eigen::aligned_allocator<Point> >, typename SplineBase = polynom<Time, Numeric, Dim, Safe, Point, T_Point>>
typedef polynom<time_t, Numeric, Dim, Safe, point_t, t_point_t> spline::spline_deriv_constraint< Time, Numeric, Dim, Safe, Point, T_Point, SplineBase >::spline_t |
◆ t_point_t
template<typename Time = double, typename Numeric = Time, std::size_t Dim = 3, bool Safe = false, typename Point = Eigen::Matrix<Numeric, Dim, 1>, typename T_Point = std::vector<Point, Eigen::aligned_allocator<Point> >, typename SplineBase = polynom<Time, Numeric, Dim, Safe, Point, T_Point>>
◆ t_spline_t
template<typename Time = double, typename Numeric = Time, std::size_t Dim = 3, bool Safe = false, typename Point = Eigen::Matrix<Numeric, Dim, 1>, typename T_Point = std::vector<Point, Eigen::aligned_allocator<Point> >, typename SplineBase = polynom<Time, Numeric, Dim, Safe, Point, T_Point>>
◆ time_t
template<typename Time = double, typename Numeric = Time, std::size_t Dim = 3, bool Safe = false, typename Point = Eigen::Matrix<Numeric, Dim, 1>, typename T_Point = std::vector<Point, Eigen::aligned_allocator<Point> >, typename SplineBase = polynom<Time, Numeric, Dim, Safe, Point, T_Point>>
◆ spline_deriv_constraint() [1/2]
template<typename Time = double, typename Numeric = Time, std::size_t Dim = 3, bool Safe = false, typename Point = Eigen::Matrix<Numeric, Dim, 1>, typename T_Point = std::vector<Point, Eigen::aligned_allocator<Point> >, typename SplineBase = polynom<Time, Numeric, Dim, Safe, Point, T_Point>>
template<typename In >
Constructor.
- Parameters
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wayPointsBegin | : an iterator pointing to the first element of a waypoint container |
wayPointsEnd | : an iterator pointing to the end of a waypoint container |
constraints | : constraints on the init and end velocity / accelerations of the spline |
◆ ~spline_deriv_constraint()
template<typename Time = double, typename Numeric = Time, std::size_t Dim = 3, bool Safe = false, typename Point = Eigen::Matrix<Numeric, Dim, 1>, typename T_Point = std::vector<Point, Eigen::aligned_allocator<Point> >, typename SplineBase = polynom<Time, Numeric, Dim, Safe, Point, T_Point>>
◆ spline_deriv_constraint() [2/2]
template<typename Time = double, typename Numeric = Time, std::size_t Dim = 3, bool Safe = false, typename Point = Eigen::Matrix<Numeric, Dim, 1>, typename T_Point = std::vector<Point, Eigen::aligned_allocator<Point> >, typename SplineBase = polynom<Time, Numeric, Dim, Safe, Point, T_Point>>
spline::spline_deriv_constraint< Time, Numeric, Dim, Safe, Point, T_Point, SplineBase >::spline_deriv_constraint |
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const spline_deriv_constraint< Time, Numeric, Dim, Safe, Point, T_Point, SplineBase > & |
other | ) |
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inline |
The documentation for this class was generated from the following file: