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.
spline::helpers::rotation_spline Class Reference

#include <hpp/spline/helpers/effector_spline_rotation.h>

Inheritance diagram for spline::helpers::rotation_spline:
Collaboration diagram for spline::helpers::rotation_spline:

Public Member Functions

 rotation_spline (quat_ref_const_t quat_from=quat_t(0, 0, 0, 1), quat_ref_const_t quat_to=quat_t(0, 0, 0, 1), const double min=0., const double max=1.)
 
 ~rotation_spline ()
 
rotation_splineoperator= (const rotation_spline &from)
 
quat_t operator() (const Numeric t) const
 
virtual quat_t derivate (time_t, std::size_t) const
 
spline_deriv_constraint_one_dim computeWayPoints () const
 
virtual time_t min () const
 Returns the minimum time for wich curve is defined. More...
 
virtual time_t max () const
 Returns the maximum time for wich curve is defined. More...
 
- Public Member Functions inherited from spline::curve_abc< Time, Numeric, Dim, Safe, Point >
 curve_abc ()
 Constructor. More...
 
virtual ~curve_abc ()
 Destructor. More...
 
virtual point_t operator() (const time_t t) const =0
 Evaluation of the cubic spline at time t. More...
 
virtual point_t derivate (const time_t t, const std::size_t order) const =0
 Evaluation of the derivative spline at time t. More...
 
std::pair< time_t, time_ttimeRange ()
 

Public Attributes

Eigen::Quaterniond quat_from_
 
Eigen::Quaterniond quat_to_
 
double min_
 
double max_
 
spline_deriv_constraint_one_dim time_reparam_
 

Additional Inherited Members

- Public Types inherited from spline::curve_abc< Time, Numeric, Dim, Safe, Point >
typedef Point point_t
 
typedef Time time_t
 

Constructor & Destructor Documentation

◆ rotation_spline()

spline::helpers::rotation_spline::rotation_spline ( quat_ref_const_t  quat_from = quat_t(0, 0, 0, 1),
quat_ref_const_t  quat_to = quat_t(0, 0, 0, 1),
const double  min = 0.,
const double  max = 1. 
)
inline

◆ ~rotation_spline()

spline::helpers::rotation_spline::~rotation_spline ( )
inline

Member Function Documentation

◆ computeWayPoints()

spline_deriv_constraint_one_dim spline::helpers::rotation_spline::computeWayPoints ( ) const
inline

◆ derivate()

virtual quat_t spline::helpers::rotation_spline::derivate ( time_t  ,
std::size_t   
) const
inlinevirtual

◆ max()

virtual time_t spline::helpers::rotation_spline::max ( ) const
inlinevirtual

Returns the maximum time for wich curve is defined.

Implements spline::curve_abc< Time, Numeric, Dim, Safe, Point >.

◆ min()

virtual time_t spline::helpers::rotation_spline::min ( ) const
inlinevirtual

Returns the minimum time for wich curve is defined.

Implements spline::curve_abc< Time, Numeric, Dim, Safe, Point >.

◆ operator()()

quat_t spline::helpers::rotation_spline::operator() ( const Numeric  t) const
inline

◆ operator=()

rotation_spline& spline::helpers::rotation_spline::operator= ( const rotation_spline from)
inline

Member Data Documentation

◆ max_

double spline::helpers::rotation_spline::max_

◆ min_

double spline::helpers::rotation_spline::min_

◆ quat_from_

Eigen::Quaterniond spline::helpers::rotation_spline::quat_from_

◆ quat_to_

Eigen::Quaterniond spline::helpers::rotation_spline::quat_to_

◆ time_reparam_

spline_deriv_constraint_one_dim spline::helpers::rotation_spline::time_reparam_

The documentation for this class was generated from the following file: