Mathematical functions

Classes

class  roboptim::CubicBSpline
 Cubic B-Spline trajectory. More...
class  roboptim::FreeTimeTrajectory< T >
 Decorate a trajectory to make time scalable. More...
class  roboptim::SplineLength
 Approximate the length of a Spline. More...

Functions

 roboptim::SplineLength::SplineLength (const CubicBSpline &spline, const size_type nDiscretizationPoints=100, boost::optional< interval_t > interval=boost::none_t()) throw ()
virtual roboptim::SplineLength::~SplineLength () throw ()
void roboptim::SplineLength::impl_compute (result_t &, const argument_t &) const throw ()
void roboptim::SplineLength::impl_gradient (gradient_t &, const argument_t &, size_type) const throw ()

Function Documentation

void roboptim::SplineLength::impl_compute ( result_t &  res,
const argument_t &  p 
) const throw () [protected]
void roboptim::SplineLength::impl_gradient ( gradient_t &  grad,
const argument_t &  p,
size_type  i 
) const throw () [protected]
roboptim::SplineLength::SplineLength ( const CubicBSpline spline,
const size_type  nDiscretizationPoints = 100,
boost::optional< interval_t >  interval = boost::none_t () 
) throw ()

Construct the function from a Spline and a definition interval.

The interval allows to only compute the length of the Spline on a specific interval. The step associated to the interval controls the approximation precision.

Parameters:
splinespline used for length computation
intervalinterval on which the length is computed.
nDiscretizationPointsnumber of discretization points
roboptim::SplineLength::~SplineLength ( ) throw () [virtual]