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| template<typename T > |
| T | bezier_com_traj::initwp () |
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| waypoint_t | bezier_com_traj::initwp (const size_t rows, const size_t cols) |
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| waypoint_t | bezier_com_traj::operator+ (const waypoint_t &w1, const waypoint_t &w2) |
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| waypoint_t | bezier_com_traj::operator- (const waypoint_t &w1, const waypoint_t &w2) |
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| waypoint_t | bezier_com_traj::operator* (const double k, const waypoint_t &w) |
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| waypoint_t | bezier_com_traj::operator* (const waypoint_t &w, const double k) |
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| BEZIER_COM_TRAJ_DLLAPI std::vector< ndcurves::Bern< double > > | bezier_com_traj::ComputeBersteinPolynoms (const unsigned int degree) |
| | Compute the Bernstein polynoms for a given degree.
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| template<typename Bezier , typename Point > |
| BEZIER_COM_TRAJ_DLLAPI Bezier | bezier_com_traj::computeBezierCurve (const ConstraintFlag &flag, const double T, const std::vector< Point > &pi, const Point &x) |
| | given the constraints of the problem, and a set of waypoints, return the bezier curve corresponding
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| T_time | bezier_com_traj::computeDiscretizedTimeFixed (const VectorX &phaseTimings, const unsigned int pointsPerPhase) |
| | computeDiscretizedTime build an array of discretized points in time, such that there is the same number of point in each phase. Doesn't contain t=0, is of size pointsPerPhase*phaseTimings.size()
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| T_time | bezier_com_traj::computeDiscretizedTime (const VectorX &phaseTimings, const double timeStep) |
| | computeDiscretizedTime build an array of discretized points in time, given the timestep. Doesn't contain t=0, is of size pointsPerPhase*phaseTimings.size()
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| void | bezier_com_traj::printQHullFile (const std::pair< MatrixXX, VectorX > &Ab, VectorX intPoint, const std::string &fileName, bool clipZ=false) |
| | write a polytope describe by A x <= b linear constraints in a given filename
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| BEZIER_COM_TRAJ_DLLAPI Matrix3 | bezier_com_traj::skew (point_t_tC x) |
| | skew symmetric matrix
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| int | bezier_com_traj::Normalize (Ref_matrixXX A, Ref_vectorX b) |
| | normalize inequality constraints
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