Abstract trajectory. More...
#include <roboptim/trajectory/trajectory.hh>
Public Types | |
typedef parent_t::interval_t | interval_t |
Import interval type. More... | |
Public Member Functions | |
ROBOPTIM_NTIMES_DERIVABLE_FUNCTION_FWD_TYPEDEFS_ (NTimesDerivableFunction< DerivabilityOrder >) | |
Parent type and imports. More... | |
virtual | ~Trajectory () |
result_t | operator() (StableTimePoint argument) const |
void | operator() (result_ref result, StableTimePoint argument) const |
derivative_t | derivative (StableTimePoint argument, size_type order=1) const |
void | derivative (derivative_ref derivative, StableTimePoint argument, size_type order=1) const |
virtual jacobian_t | variationConfigWrtParam (StableTimePoint tp) const =0 |
virtual jacobian_t | variationDerivWrtParam (StableTimePoint tp, size_type order) const =0 |
bool | isValidTime (value_type t) const |
virtual void | normalizeAngles (size_type index) |
Normalize angles in parameters array. More... | |
virtual Trajectory< DerivabilityOrder > * | clone () const =0 |
virtual Trajectory< DerivabilityOrder > * | resize (interval_t timeRange) const =0 |
Clone and resize a trajectory. More... | |
virtual std::ostream & | print (std::ostream &) const |
Accessing parameters, and state. | |
const vector_t & | parameters () const |
virtual void | setParameters (const vector_t &) |
Set parameters. More... | |
interval_t | timeRange () const |
value_type | length () const |
virtual vector_t | state (double t, size_type order) const |
Get state along trajectory. More... | |
virtual vector_t | state (StableTimePoint t, size_type order) const |
Accessing parameters and gradients | |
virtual jacobian_t | variationConfigWrtParam (double t) const =0 |
Get the variation of a configuration with respect to parameter vector. More... | |
virtual jacobian_t | variationDerivWrtParam (double t, size_type order) const =0 |
Get the variation of a derivative with respect to parameter vector. More... | |
jacobian_t | variationStateWrtParam (double t, size_type order) const |
Get the variation of the state with respect to parameter vector. More... | |
jacobian_t | variationStateWrtParam (StableTimePoint stp, size_type order) const |
Singular points | |
size_type | singularPoints () const |
Get number of singular points. More... | |
virtual value_type | singularPointAtRank (size_type rank) const =0 |
Get singular point at given rank. More... | |
virtual vector_t | derivBeforeSingularPoint (size_type rank, size_type order) const =0 |
Get left limit value of derivative at given singular point. More... | |
virtual vector_t | derivAfterSingularPoint (size_type rank, size_type order) const =0 |
Get right limit value of derivative at given singular point. More... | |
Tolerance for inclusion of parameter in interval of definition. | |
Set tolerance for inclusion of parameter in interval of definition. | |
void | tolerance (const double &tolerance) |
double | tolerance () const |
Get tolerance for inclusion of parameter in interval of definition. More... | |
Protected Member Functions | |
void | impl_compute (result_ref, StableTimePoint) const |
virtual void | impl_derivative (derivative_ref g, StableTimePoint, size_type order) const =0 |
Trajectory (interval_t, size_type, const vector_t &, std::string name=std::string()) | |
virtual void | normalizeAngles (size_type index, size_type offset) |
Internal version of normalizeAngles allowing an optional offset. More... | |
Protected Attributes | |
interval_t | timeRange_ |
vector_t | parameters_ |
size_type | singularPoints_ |
Abstract trajectory.
A trajectory is a piecewise smooth mapping from
DerivabilityOrder | derivability order |
typedef parent_t::interval_t roboptim::trajectory::Trajectory< DerivabilityOrder >::interval_t |
Import interval type.
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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. |
Implemented in roboptim::trajectory::BSpline< N >, roboptim::trajectory::CubicBSpline, roboptim::trajectory::FreeTimeTrajectory< T >, and roboptim::trajectory::VectorInterpolation.
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Get left limit value of derivative at given singular point.
rank | rank of the singular points. |
order | order of derivation. |
Implemented in roboptim::trajectory::BSpline< N >, roboptim::trajectory::CubicBSpline, roboptim::trajectory::FreeTimeTrajectory< T >, and roboptim::trajectory::VectorInterpolation.
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bool roboptim::trajectory::Trajectory< dorder >::isValidTime | ( | value_type | t | ) | const |
Trajectory< dorder >::value_type roboptim::trajectory::Trajectory< dorder >::length | ( | ) | const |
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Normalize angles in parameters array.
Make sure angles are continuous.
index | Angles index in parameter array. |
Reimplemented in roboptim::trajectory::FreeTimeTrajectory< T >.
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Internal version of normalizeAngles allowing an optional offset.
Used to factorize code between trajectories and free time trajectories.
index | Angles index in parameter array. |
offset | Index of the first control point in the parameter vector. |
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const Trajectory< dorder >::vector_t & roboptim::trajectory::Trajectory< dorder >::parameters | ( | ) | const |
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Clone and resize a trajectory.
Implemented in roboptim::trajectory::BSpline< N >, roboptim::trajectory::FreeTimeTrajectory< T >, roboptim::trajectory::VectorInterpolation, roboptim::trajectory::ConstrainedBSpline< N >, and roboptim::trajectory::CubicBSpline.
roboptim::trajectory::Trajectory< DerivabilityOrder >::ROBOPTIM_NTIMES_DERIVABLE_FUNCTION_FWD_TYPEDEFS_ | ( | NTimesDerivableFunction< DerivabilityOrder > | ) |
Parent type and imports.
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Set parameters.
vector_t | parameters. |
std::runtime_error |
Reimplemented in roboptim::trajectory::BSpline< N >, roboptim::trajectory::ConstrainedBSpline< N >, roboptim::trajectory::CubicBSpline, roboptim::trajectory::FreeTimeTrajectory< T >, and roboptim::trajectory::VectorInterpolation.
Referenced by roboptim::trajectory::VectorInterpolation::setParameters().
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Get singular point at given rank.
Implemented in roboptim::trajectory::BSpline< N >, roboptim::trajectory::CubicBSpline, roboptim::trajectory::FreeTimeTrajectory< T >, and roboptim::trajectory::VectorInterpolation.
Trajectory< dorder >::size_type roboptim::trajectory::Trajectory< dorder >::singularPoints | ( | ) | const |
Get number of singular points.
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Get state along trajectory.
t | value ![]() |
order | the higher order ![]() |
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Trajectory< dorder >::interval_t roboptim::trajectory::Trajectory< dorder >::timeRange | ( | ) | const |
Referenced by roboptim::trajectory::CubicBSpline::operator+(), roboptim::trajectory::CubicBSpline::operator+=(), roboptim::trajectory::visualization::gnuplot::plot_limitSpeed(), roboptim::trajectory::visualization::matplotlib::plot_spline(), roboptim::trajectory::visualization::gnuplot::plot_xy(), roboptim::trajectory::FreeTimeTrajectory< T >::resize(), and roboptim::trajectory::detail::unscaleInterval().
void roboptim::trajectory::Trajectory< dorder >::tolerance | ( | const double & | tolerance | ) |
double roboptim::trajectory::Trajectory< dorder >::tolerance | ( | ) | const |
Get tolerance for inclusion of parameter in interval of definition.
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Get the variation of a configuration with respect to parameter vector.
t | value ![]() |
Implemented in roboptim::trajectory::CubicBSpline, roboptim::trajectory::FreeTimeTrajectory< T >, and roboptim::trajectory::VectorInterpolation.
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Get the variation of a derivative with respect to parameter vector.
t | value ![]() |
order | order ![]() |
Implemented in roboptim::trajectory::ConstrainedBSpline< N >, roboptim::trajectory::CubicBSpline, roboptim::trajectory::FreeTimeTrajectory< T >, and roboptim::trajectory::VectorInterpolation.
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Trajectory< dorder >::jacobian_t roboptim::trajectory::Trajectory< dorder >::variationStateWrtParam | ( | double | t, |
size_type | order | ||
) | const |
Get the variation of the state with respect to parameter vector.
t | value ![]() |
order | order ![]() |
Trajectory< dorder >::jacobian_t roboptim::trajectory::Trajectory< dorder >::variationStateWrtParam | ( | StableTimePoint | stp, |
size_type | order | ||
) | const |
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