|
| ROBOPTIM_NTIMES_DERIVABLE_FUNCTION_FWD_TYPEDEFS (Trajectory< 3 >) |
|
| ROBOPTIM_IMPLEMENT_CLONE (VectorInterpolation) |
|
| VectorInterpolation (const_vector_ref x, size_type outputSize, value_type dt) |
| Vector interpolation constructor. More...
|
|
| ~VectorInterpolation () |
|
| VectorInterpolation (const VectorInterpolation &vi) |
|
void | setParameters (const vector_t &) |
| Store parameters and update coefficients. More...
|
|
size_type | numFrames () const |
|
jacobian_t | variationConfigWrtParam (double t) const |
| Get the variation of a configuration with respect to parameter vector. More...
|
|
jacobian_t | variationDerivWrtParam (double t, size_type order) const |
| Get the variation of a derivative with respect to parameter vector. More...
|
|
value_type | singularPointAtRank (size_type rank) const |
| Get singular point at given rank. More...
|
|
vector_t | derivBeforeSingularPoint (size_type rank, size_type order) const |
| Get left limit value of derivative at given singular point. More...
|
|
vector_t | derivAfterSingularPoint (size_type rank, size_type order) const |
| Get right limit value of derivative at given singular point. More...
|
|
jacobian_t | variationConfigWrtParam (StableTimePoint tp) const |
|
jacobian_t | variationDerivWrtParam (StableTimePoint tp, size_type order) const |
|
boost::shared_ptr< VectorInterpolation > | trim (size_type start, size_type length) const |
| Instantiate a trajectory corresponding to a sub-part of this trajectory. More...
|
|
| 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 |
|
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 std::ostream & | print (std::ostream &) const |
|
const vector_t & | parameters () const |
|
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 |
|
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 |
|
size_type | singularPoints () const |
| Get number of singular points. More...
|
|
void | tolerance (const double &tolerance) |
|
double | tolerance () const |
| Get tolerance for inclusion of parameter in interval of definition. More...
|
|
|
void | impl_compute (result_ref result, double t) const |
|
void | impl_derivative (derivative_ref derivative, double argument, size_type order=1) const |
|
void | impl_derivative (derivative_ref g, StableTimePoint, size_type order) const |
|
Trajectory< 3 > * | resize (interval_t timeRange) const |
| Clone and resize a trajectory. More...
|
|
virtual void | normalizeAngles (size_type index, size_type offset) |
| Internal version of normalizeAngles allowing an optional offset. More...
|
|
void | impl_compute (result_ref, StableTimePoint) const |
|
| Trajectory (interval_t, size_type, const vector_t &, std::string name=std::string()) |
|
Takes a vector or argument and differentiate it.
It is common to have an optimization vector where a pattern is repeated:
[x_0^0 ... x_N^0 ... x_0^M x_N^M]
The pattern is here of length N and repeated M times.
By using numerical interpolation, it is possible to differentiate this pattern.
A classical example are trajectories.