Represents a polynomf arbitrary order defined on the interval [tBegin, tEnd]. It follows the equation x(t) = a + b(t - t_min_) + ... + d(t - t_min_)^N, where N is the order. More...

#include <hpp/spline/polynom.h>

Inheritance diagram for spline::polynom< Time, Numeric, Dim, Safe, Point, T_Point >:

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Collaboration diagram for spline::polynom< Time, Numeric, Dim, Safe, Point, T_Point >:

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Public Types
typedef Point	point_t

typedef T_Point	t_point_t

typedef Time	time_t

typedef Numeric	num_t

typedef curve_abc< Time, Numeric, Dim, Safe, Point >	curve_abc_t

typedef Eigen::Matrix< double, Dim, Eigen::Dynamic >	coeff_t

typedef Eigen::Ref< coeff_t >	coeff_t_ref

Public Types inherited from spline::curve_abc< double, double, 3, false, Eigen::Matrix< double, 3, 1 > >
typedef Eigen::Matrix< double, 3, 1 >	point_t

typedef double	time_t

Public Member Functions
	polynom (const coeff_t &coefficients, const time_t min, const time_t max)
	Constructor. More...

	polynom (const T_Point &coefficients, const time_t min, const time_t max)
	Constructor. More...

template<typename In >
	polynom (In zeroOrderCoefficient, In out, const time_t min, const time_t max)
	Constructor. More...

	~polynom ()
	Destructor. More...

	polynom (const polynom &other)

virtual point_t	operator() (const time_t t) const
	Evaluation of the cubic spline at time t using horner's scheme. More...

virtual point_t	derivate (const time_t t, const std::size_t order) const
	Evaluation of the derivative spline at time t. More...

virtual num_t	min () const
	Returns the minimum time for wich curve is defined. More...

virtual num_t	max () const
	Returns the maximum time for wich curve is defined. More...

Public Member Functions inherited from spline::curve_abc< double, double, 3, false, Eigen::Matrix< double, 3, 1 > >
	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...

virtual time_t	min () const=0
	Returns the minimum time for wich curve is defined. More...

virtual time_t	max () const=0
	Returns the maximum time for wich curve is defined. More...

std::pair< time_t, time_t >	timeRange ()

Public Attributes
coeff_t	coefficients_

std::size_t	dim_

std::size_t	order_

Detailed Description

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> >>
class spline::polynom< Time, Numeric, Dim, Safe, Point, T_Point >

Represents a polynomf arbitrary order defined on the interval [tBegin, tEnd]. It follows the equation x(t) = a + b(t - t_min_) + ... + d(t - t_min_)^N, where N is the order.

Member Typedef Documentation

◆ coeff_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> >>

typedef Eigen::Matrix<double, Dim, Eigen::Dynamic> spline::polynom< Time, Numeric, Dim, Safe, Point, T_Point >::coeff_t

◆ coeff_t_ref

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> >>

typedef Eigen::Ref<coeff_t> spline::polynom< Time, Numeric, Dim, Safe, Point, T_Point >::coeff_t_ref

◆ curve_abc_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> >>

typedef curve_abc<Time, Numeric, Dim, Safe, Point> spline::polynom< Time, Numeric, Dim, Safe, Point, T_Point >::curve_abc_t

◆ 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> >>

typedef Numeric spline::polynom< Time, Numeric, Dim, Safe, Point, T_Point >::num_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> >>

typedef Point spline::polynom< Time, Numeric, Dim, Safe, Point, T_Point >::point_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> >>

typedef T_Point spline::polynom< Time, Numeric, Dim, Safe, Point, T_Point >::t_point_t

◆ 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> >>

typedef Time spline::polynom< Time, Numeric, Dim, Safe, Point, T_Point >::time_t

Constructor & Destructor Documentation

◆ polynom() [1/4]

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> >>

spline::polynom< Time, Numeric, Dim, Safe, Point, T_Point >::polynom	(	const coeff_t &	coefficients,
		const time_t	min,
		const time_t	max
	)

inline

Constructor.

Parameters

coefficients	: a reference to an Eigen matrix where each column is a coefficient, from the zero order coefficient, up to the highest order. Spline order is given by the number of the columns -1.
min	LOWER bound on interval definition of the spline
max	UPPER bound on interval definition of the spline

◆ polynom() [2/4]

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> >>

spline::polynom< Time, Numeric, Dim, Safe, Point, T_Point >::polynom	(	const T_Point &	coefficients,
		const time_t	min,
		const time_t	max
	)

inline

Constructor.

Parameters

coefficients	: a container containing all coefficients of the spline, starting with the zero order coefficient, up to the highest order. Spline order is given by the size of the coefficients
min	LOWER bound on interval definition of the spline
max	UPPER bound on interval definition of the spline

◆ polynom() [3/4]

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> >>

template<typename In >

spline::polynom< Time, Numeric, Dim, Safe, Point, T_Point >::polynom	(	In	zeroOrderCoefficient,
		In	out,
		const time_t	min,
		const time_t	max
	)

inline

Constructor.

Parameters

zeroOrderCoefficient	: an iterator pointing to the first element of a structure containing the coefficients it corresponds to the zero degree coefficient
out	: an iterator pointing to the last element of a structure ofcoefficients
min	LOWER bound on interval definition of the spline
max	UPPER bound on interval definition of the spline

◆ ~polynom()

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> >>

spline::polynom< Time, Numeric, Dim, Safe, Point, T_Point >::~polynom ( )

inline

Destructor.

◆ polynom() [4/4]

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> >>

spline::polynom< Time, Numeric, Dim, Safe, Point, T_Point >::polynom ( const polynom< Time, Numeric, Dim, Safe, Point, T_Point > & other )

inline

Member Function Documentation

◆ derivate()

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> >>

virtual point_t spline::polynom< Time, Numeric, Dim, Safe, Point, T_Point >::derivate	(	const time_t	t,
		const std::size_t	order
	)		const

inlinevirtual

Evaluation of the derivative spline at time t.

Parameters

t	: the time when to evaluate the spline
order	: order of the derivative
return	: the value x(t)

References spline::polynom< Time, Numeric, Dim, Safe, Point, T_Point >::coefficients_, and spline::polynom< Time, Numeric, Dim, Safe, Point, T_Point >::order_.

Referenced by spline::helpers::compute_required_offset_velocity_acceleration().

◆ max()

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> >>

virtual num_t spline::polynom< Time, Numeric, Dim, Safe, Point, T_Point >::max ( ) const

inlinevirtual

Returns the maximum time for wich curve is defined.

◆ min()

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> >>

virtual num_t spline::polynom< Time, Numeric, Dim, Safe, Point, T_Point >::min ( ) const

inlinevirtual

Returns the minimum time for wich curve is defined.

Referenced by spline::helpers::compute_required_offset_velocity_acceleration().

◆ operator()()

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> >>

virtual point_t spline::polynom< Time, Numeric, Dim, Safe, Point, T_Point >::operator() ( const time_t t ) const

inlinevirtual

Evaluation of the cubic spline at time t using horner's scheme.

Parameters

t	: the time when to evaluate the spine
return	: the value x(t)

References spline::polynom< Time, Numeric, Dim, Safe, Point, T_Point >::coefficients_, and spline::polynom< Time, Numeric, Dim, Safe, Point, T_Point >::order_.

Member Data Documentation

◆ coefficients_

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> >>

coeff_t spline::polynom< Time, Numeric, Dim, Safe, Point, T_Point >::coefficients_

Referenced by spline::polynom< Time, Numeric, Dim, Safe, Point, T_Point >::derivate(), and spline::polynom< Time, Numeric, Dim, Safe, Point, T_Point >::operator()().

◆ dim_

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> >>

std::size_t spline::polynom< Time, Numeric, Dim, Safe, Point, T_Point >::dim_

◆ order_

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> >>

std::size_t spline::polynom< Time, Numeric, Dim, Safe, Point, T_Point >::order_

Referenced by spline::polynom< Time, Numeric, Dim, Safe, Point, T_Point >::derivate(), and spline::polynom< Time, Numeric, Dim, Safe, Point, T_Point >::operator()().

Public Types

Public Member Functions

Public Attributes

Detailed Description

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> >> class spline::polynom< Time, Numeric, Dim, Safe, Point, T_Point >

Member Typedef Documentation

◆ coeff_t

◆ coeff_t_ref

◆ curve_abc_t

◆ num_t

◆ point_t

◆ t_point_t

◆ time_t

Constructor & Destructor Documentation

◆ polynom() [1/4]

◆ polynom() [2/4]

◆ polynom() [3/4]

◆ ~polynom()

◆ polynom() [4/4]

Member Function Documentation

◆ derivate()

◆ max()

◆ min()

◆ operator()()

Member Data Documentation

◆ coefficients_

◆ dim_

◆ order_

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> >>
class spline::polynom< Time, Numeric, Dim, Safe, Point, T_Point >