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.
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| CubicBSpline (const CubicBSpline &spline) throw () |
| Copy constructor.
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virtual | ~CubicBSpline () throw () |
virtual void | setParameters (const vector_t &) throw () |
| Modify spline parameters.
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virtual jacobian_t | variationConfigWrtParam (double t) const throw () |
| Get the variation of a configuration with respect to parameter vector.
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virtual jacobian_t | variationDerivWrtParam (double t, size_type order) const throw () |
| Get the variation of a derivative with respect to parameter vector.
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virtual value_type | singularPointAtRank (size_type rank) const |
| Get singular point at given rank.
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virtual vector_t | derivBeforeSingularPoint (size_type rank, size_type order) const |
| Get left limit value of derivative at given singular point.
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virtual vector_t | derivAfterSingularPoint (size_type rank, size_type order) const |
| Get right limit value of derivative at given singular point.
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virtual Trajectory
< derivabilityOrder > * | resize (interval_t timeRange) const throw () |
| Clone and resize a trajectory.
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virtual std::ostream & | print (std::ostream &o) const throw () |
| Display the function on the specified output stream.
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jacobian_t | variationConfigWrtParam (StableTimePoint tp) const throw () |
jacobian_t | variationDerivWrtParam (StableTimePoint tp, size_type order) const throw () |
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.
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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.
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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.
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jacobian_t | variationStateWrtParam (StableTimePoint stp, size_type order) const throw () |
size_type | singularPoints () const throw () |
| Get number of singular points.
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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 |
virtual void | normalizeAngles (size_type index, size_type offset) throw () |
| Internal version of normalizeAngles allowing an optional offset.
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void | impl_compute (result_t &, StableTimePoint) const throw () |
| Trajectory (interval_t, size_type, const vector_t &, std::string name=std::string()) throw () |
Cubic B-Spline trajectory.
Implement a B-Spline as a trajectory as described below: given
- Examples:
- spline-optimization.cc, and spline-time-optimization.cc.