Cubic B-Spline trajectory. More...
#include <roboptim/trajectory/cubic-b-spline.hh>
Public Member Functions | |
CubicBSpline (interval_t timeRange, size_type dimension, const vector_t ¶meters, const std::string name="cubic B-Spline") throw () | |
Instantiate a cubic B-Spline from its definition. More... | |
CubicBSpline (const CubicBSpline &spline) throw () | |
Copy constructor. More... | |
virtual | ~CubicBSpline () throw () |
virtual void | setParameters (const vector_t &) throw () |
Modify spline parameters. More... | |
virtual jacobian_t | variationConfigWrtParam (double t) const throw () |
Get the variation of a configuration with respect to parameter vector. More... | |
virtual jacobian_t | variationDerivWrtParam (double t, size_type order) const throw () |
Get the variation of a derivative with respect to parameter vector. More... | |
virtual value_type | singularPointAtRank (size_type rank) const |
Get singular point at given rank. More... | |
virtual vector_t | derivBeforeSingularPoint (size_type rank, size_type order) const |
Get left limit value of derivative at given singular point. More... | |
virtual vector_t | derivAfterSingularPoint (size_type rank, size_type order) const |
Get right limit value of derivative at given singular point. More... | |
virtual Trajectory < derivabilityOrder > * | resize (interval_t timeRange) const throw () |
Clone and resize a trajectory. More... | |
virtual std::ostream & | print (std::ostream &o) const throw () |
Display the function on the specified output stream. More... | |
jacobian_t | variationConfigWrtParam (StableTimePoint tp) const throw () |
jacobian_t | variationDerivWrtParam (StableTimePoint tp, size_type order) const throw () |
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virtual | ~Trajectory () throw () |
result_t | operator() (StableTimePoint argument) const throw () |
void | operator() (result_t &result, StableTimePoint argument) const throw () |
gradient_t | derivative (StableTimePoint argument, size_type order=1) const throw () |
void | derivative (gradient_t &derivative, StableTimePoint argument, size_type order=1) const throw () |
bool | isValidTime (value_type t) const throw () |
virtual void | normalizeAngles (size_type index) throw () |
Normalize angles in parameters array. More... | |
virtual Trajectory < DerivabilityOrder > * | clone () const =0 throw () |
const vector_t & | parameters () const throw () |
interval_t | timeRange () const throw () |
value_type | length () const throw () |
virtual vector_t | state (double t, size_type order) const throw () |
Get state along trajectory. More... | |
virtual vector_t | state (StableTimePoint t, size_type order) const throw () |
jacobian_t | variationStateWrtParam (double t, size_type order) const throw () |
Get the variation of the state with respect to parameter vector. More... | |
jacobian_t | variationStateWrtParam (StableTimePoint stp, size_type order) const throw () |
size_type | singularPoints () const throw () |
Get number of singular points. More... | |
Protected Member Functions | |
void | impl_compute (result_t &, double) const throw () |
void | impl_derivative (gradient_t &g, double x, size_type order) const throw () |
void | impl_derivative (gradient_t &g, StableTimePoint, size_type order) const throw () |
value_type | Dt () const |
size_type | interval (value_type t) const |
vector_t | basisFunctions (value_type t, size_type order) const |
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virtual void | normalizeAngles (size_type index, size_type offset) throw () |
Internal version of normalizeAngles allowing an optional offset. More... | |
void | impl_compute (result_t &, StableTimePoint) const throw () |
Trajectory (interval_t, size_type, const vector_t &, std::string name=std::string()) throw () | |
Additional Inherited Members | |
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typedef NTimesDerivableFunction < DerivabilityOrder > | parent_t |
Parent type. More... | |
typedef parent_t::value_type | value_type |
Import value type. More... | |
typedef parent_t::size_type | size_type |
Import size type. More... | |
typedef parent_t::vector_t | vector_t |
Import vector type. More... | |
typedef parent_t::result_t | result_t |
Import result type. More... | |
typedef parent_t::gradient_t | gradient_t |
Import gradient type. More... | |
typedef parent_t::jacobian_t | jacobian_t |
Import jacobian type. More... | |
typedef parent_t::interval_t | interval_t |
Import interval type. More... | |
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interval_t | timeRange_ |
vector_t | parameters_ |
size_type | singularPoints_ |
Cubic B-Spline trajectory.
Implement a B-Spline as a trajectory as described below: given
roboptim::CubicBSpline::CubicBSpline | ( | interval_t | timeRange, |
size_type | dimension, | ||
const vector_t & | parameters, | ||
const std::string | name = "cubic B-Spline" |
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throw | ( | ||
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Instantiate a cubic B-Spline from its definition.
timeRange | spline time range: $ ![]() |
dimension | spline dimension: ![]() |
parameters | vector of parameters defining control points |
name | function title |
Number of control points is inferred from dimension of dimenion of parameter vector.
Referenced by resize().
roboptim::CubicBSpline::CubicBSpline | ( | const CubicBSpline & | spline) | ||
throw | ( | ||||
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Copy constructor.
spline | spline that will be copied |
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References Dt(), interval(), and roboptim::Trajectory< 3 >::timeRange().
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Get right limit value of derivative at given singular point.
rank | rank of the singular points. |
order | order of derivation. |
derivative | Limit of the derivative at singular point for decreasing parameter values. |
Implements roboptim::Trajectory< 3 >.
References roboptim::Trajectory< 3 >::derivative(), and singularPointAtRank().
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Get left limit value of derivative at given singular point.
rank | rank of the singular points. |
order | order of derivation. |
Implements roboptim::Trajectory< 3 >.
References roboptim::Trajectory< 3 >::derivative(), and singularPointAtRank().
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References roboptim::Trajectory< 3 >::length().
Referenced by basisFunctions(), and interval().
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Implements roboptim::Trajectory< 3 >.
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References Dt(), and roboptim::Trajectory< 3 >::timeRange().
Referenced by basisFunctions().
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Display the function on the specified output stream.
o | output stream used for display |
Reimplemented from roboptim::Trajectory< 3 >.
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Modify spline parameters.
Reimplemented from roboptim::Trajectory< 3 >.
Referenced by roboptim::SplineLength::impl_compute(), and roboptim::SplineLength::impl_gradient().
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Get singular point at given rank.
Implements roboptim::Trajectory< 3 >.
References roboptim::Trajectory< 3 >::length().
Referenced by derivAfterSingularPoint(), and derivBeforeSingularPoint().
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Get the variation of a configuration with respect to parameter vector.
t | value ![]() |
Implements roboptim::Trajectory< 3 >.
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Implements roboptim::Trajectory< 3 >.
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Get the variation of a derivative with respect to parameter vector.
t | value ![]() |
order | order ![]() |
Implements roboptim::Trajectory< 3 >.
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Implements roboptim::Trajectory< 3 >.