bezier_com_traj::c0_dc0_ddc0_dc1_c1 Namespace Reference

Functions
coefs_t	evaluateCurveAtTime (const std::vector< point_t > &pi, double t)
	evaluateCurveAtTime compute the expression of the point on the curve at t, defined by the waypoint pi and one free waypoint (x)
coefs_t	evaluateAccelerationCurveAtTime (const std::vector< point_t > &pi, double T, double t)
std::vector< point_t >	computeConstantWaypoints (const ProblemData &pData, double T)
bezier_wp_t::t_point_t	computeWwaypoints (const ProblemData &pData, double T)
coefs_t	computeFinalVelocityPoint (const ProblemData &pData, double T)

Function Documentation

computeConstantWaypoints()

std::vector< point_t > bezier_com_traj::c0_dc0_ddc0_dc1_c1::computeConstantWaypoints ( const ProblemData &  pData, double  T  )

inline

computeFinalVelocityPoint()

coefs_t bezier_com_traj::c0_dc0_ddc0_dc1_c1::computeFinalVelocityPoint ( const ProblemData &  pData, double  T  )

inline

computeWwaypoints()

bezier_wp_t::t_point_t bezier_com_traj::c0_dc0_ddc0_dc1_c1::computeWwaypoints ( const ProblemData &  pData, double  T  )

inline

evaluateAccelerationCurveAtTime()

coefs_t bezier_com_traj::c0_dc0_ddc0_dc1_c1::evaluateAccelerationCurveAtTime ( const std::vector< point_t > &  pi, double  T, double  t  )

inline

evaluateCurveAtTime()

coefs_t bezier_com_traj::c0_dc0_ddc0_dc1_c1::evaluateCurveAtTime ( const std::vector< point_t > &  pi, double  t  )

inline

evaluateCurveAtTime compute the expression of the point on the curve at t, defined by the waypoint pi and one free waypoint (x)

EQUATION FOR CONSTRAINTS ON INIT AND FINAL POSITION AND VELOCITY AND

INIT ACCELERATION (DEGREE = 5)

Parameters

pi	constant waypoints of the curve, assume p0 p1 x p2 p3
t	param (normalized !)

Returns

the expression of the waypoint such that wp.first . x + wp.second = point on curve