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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13 #ifndef _STRUCT_CUBICSPLINE
14 #define _STRUCT_CUBICSPLINE
27 template <
typename Po
int,
typename T_Po
int>
37 template <
typename Time,
typename Numeric, std::
size_t Dim,
bool Safe,
typename Po
int,
typename T_Po
int>
40 T_Point coeffs = make_cubic_vector<Point, T_Point>(a, b, c, d);
44 #endif //_STRUCT_CUBICSPLINE
Definition of a cubic spline.
double Time
Definition: effector_spline.h:27
T_Point make_cubic_vector(Point const &a, Point const &b, Point const &c, Point const &d)
Creates coefficient vector of a cubic spline defined on the interval [tBegin, tEnd]....
Definition: cubic_spline.h:28
Eigen::Matrix< Numeric, 3, 1 > Point
Definition: effector_spline.h:28
Represents a polynomf arbitrary order defined on the interval [tBegin, tEnd]. It follows the equation...
Definition: polynom.h:34
polynom< Time, Numeric, Dim, Safe, Point, T_Point > create_cubic(Point const &a, Point const &b, Point const &c, Point const &d, const Time min, const Time max)
Definition: cubic_spline.h:38
Definition: bernstein.h:20
std::vector< Point, Eigen::aligned_allocator< Point > > T_Point
Definition: effector_spline.h:29