waypoints_definition.cpp File Reference

#include <hpp/bezier-com-traj/data.hh>
#include <hpp/bezier-com-traj/waypoints/waypoints_c0_dc0_c1.hh>
#include <hpp/bezier-com-traj/waypoints/waypoints_c0_dc0_dc1.hh>
#include <hpp/bezier-com-traj/waypoints/waypoints_c0_dc0_dc1_c1.hh>
#include <hpp/bezier-com-traj/waypoints/waypoints_c0_dc0_ddc0.hh>
#include <hpp/bezier-com-traj/waypoints/waypoints_c0_dc0_ddc0_c1.hh>
#include <hpp/bezier-com-traj/waypoints/waypoints_c0_dc0_ddc0_dc1_c1.hh>
#include <hpp/bezier-com-traj/waypoints/waypoints_c0_dc0_ddc0_ddc1_dc1_c1.hh>
#include <hpp/bezier-com-traj/waypoints/waypoints_c0_dc0_ddc0_j0_j1_ddc1_dc1_c1.hh>
#include <hpp/bezier-com-traj/waypoints/waypoints_c0_dc0_ddc0_j0_x3_j1_ddc1_dc1_c1.hh>
#include <hpp/bezier-com-traj/waypoints/waypoints_c0_dc0_ddc0_j0_x5_j1_ddc1_dc1_c1.hh>
#include <hpp/bezier-com-traj/waypoints/waypoints_definition.hh>
#include "boost/assign.hpp"

Include dependency graph for waypoints_definition.cpp:

Namespaces
namespace	bezier_com_traj

Macros
#define	BEZIER_COM_TRAJ_WP_DEF_H

Typedefs
typedef coefs_t(*	bezier_com_traj::evalCurveAtTime) (const std::vector< point_t > &pi, double t)
typedef std::map< ConstraintFlag, evalCurveAtTime >	bezier_com_traj::T_evalCurveAtTime
typedef T_evalCurveAtTime::const_iterator	bezier_com_traj::CIT_evalCurveAtTime
typedef coefs_t(*	bezier_com_traj::evalAccCurveAtTime) (const std::vector< point_t > &pi, double T, double t)
typedef std::map< ConstraintFlag, evalAccCurveAtTime >	bezier_com_traj::T_evalAccCurveAtTime
typedef T_evalAccCurveAtTime::const_iterator	bezier_com_traj::CIT_evalAccCurveAtTime
typedef waypoint_t(*	bezier_com_traj::evalCurveWaypointAtTime) (const std::vector< point_t > &pi, double t)
typedef std::map< ConstraintFlag, evalCurveWaypointAtTime >	bezier_com_traj::T_evalCurveWaypointAtTime
typedef T_evalCurveWaypointAtTime::const_iterator	bezier_com_traj::CIT_evalCurveWaypointAtTime
typedef waypoint_t(*	bezier_com_traj::evalVelCurveWaypointAtTime) (const std::vector< point_t > &pi, const double T, double t)
typedef std::map< ConstraintFlag, evalVelCurveWaypointAtTime >	bezier_com_traj::T_evalVelCurveWaypointAtTime
typedef T_evalVelCurveWaypointAtTime::const_iterator	bezier_com_traj::CIT_evalVelCurveWaypointAtTime
typedef waypoint_t(*	bezier_com_traj::evalAccCurveWaypointAtTime) (const std::vector< point_t > &pi, const double T, double t)
typedef std::map< ConstraintFlag, evalAccCurveWaypointAtTime >	bezier_com_traj::T_evalAccCurveWaypointAtTime
typedef T_evalAccCurveWaypointAtTime::const_iterator	bezier_com_traj::CIT_evalAccCurveWaypointAtTime
typedef waypoint_t(*	bezier_com_traj::evalJerkCurveWaypointAtTime) (const std::vector< point_t > &pi, const double T, double t)
typedef std::map< ConstraintFlag, evalJerkCurveWaypointAtTime >	bezier_com_traj::T_evalJerkCurveWaypointAtTime
typedef T_evalJerkCurveWaypointAtTime::const_iterator	bezier_com_traj::CIT_evalJerkCurveWaypointAtTime
typedef std::vector< point_t >(*	bezier_com_traj::compConsWp) (const ProblemData &pData, double T)
typedef std::map< ConstraintFlag, compConsWp >	bezier_com_traj::T_compConsWp
typedef T_compConsWp::const_iterator	bezier_com_traj::CIT_compConsWp
typedef std::vector< waypoint_t >(*	bezier_com_traj::compVelWp) (const ProblemData &pData, double T, std::vector< bezier_t::point_t > pi)
typedef std::map< ConstraintFlag, compVelWp >	bezier_com_traj::T_compVelWp
typedef T_compVelWp::const_iterator	bezier_com_traj::CIT_compVelWp
typedef std::vector< waypoint_t >(*	bezier_com_traj::compAccWp) (const ProblemData &pData, double T, std::vector< bezier_t::point_t > pi)
typedef std::map< ConstraintFlag, compAccWp >	bezier_com_traj::T_compAccWp
typedef T_compAccWp::const_iterator	bezier_com_traj::CIT_compAccWp
typedef std::vector< waypoint_t >(*	bezier_com_traj::compJerkWp) (const ProblemData &pData, double T, std::vector< bezier_t::point_t > pi)
typedef std::map< ConstraintFlag, compJerkWp >	bezier_com_traj::T_compJerkWp
typedef T_compJerkWp::const_iterator	bezier_com_traj::CIT_compJerkWp
typedef bezier_wp_t::t_point_t(*	bezier_com_traj::compWp) (const ProblemData &pData, double T)
typedef std::map< ConstraintFlag, compWp >	bezier_com_traj::T_compWp
typedef T_compWp::const_iterator	bezier_com_traj::CIT_compWp
typedef coefs_t(*	bezier_com_traj::compFinalVelP) (const ProblemData &pData, double T)
typedef std::map< ConstraintFlag, compFinalVelP >	bezier_com_traj::T_compFinalVelP
typedef T_compFinalVelP::const_iterator	bezier_com_traj::CIT_compFinalVelP
typedef std::pair< MatrixXX, VectorX >(*	bezier_com_traj::compVelCost) (const ProblemData &pData, double T, std::vector< bezier_t::point_t > pi)
typedef std::map< ConstraintFlag, compVelCost >	bezier_com_traj::T_compVelCost
typedef T_compVelCost::const_iterator	bezier_com_traj::CIT_compVelCost

Functions
int	bezier_com_traj::dimVar (const ProblemData &pData)
coefs_t	bezier_com_traj::evaluateCurveAtTime (const ProblemData &pData, const std::vector< point_t > &pi, double t)
	evaluateCurveAtTime compute the expression of the point on the curve c at t, defined by the waypoint pi and one free waypoint (x)
coefs_t	bezier_com_traj::evaluateAccelerationCurveAtTime (const ProblemData &pData, const std::vector< point_t > &pi, double T, double t)
	evaluateAccelerationCurveAtTime compute the expression of the point on the curve ddc at t, defined by the waypoint pi and one free waypoint (x)
waypoint_t	bezier_com_traj::evaluateCurveWaypointAtTime (const ProblemData &pData, const std::vector< point_t > &pi, double t)
	evaluateCurveAtTime compute the expression of the point on the curve c at t, defined by the waypoint pi and one free waypoint (x)
waypoint_t	bezier_com_traj::evaluateVelocityCurveWaypointAtTime (const ProblemData &pData, const double T, const std::vector< point_t > &pi, double t)
	evaluateCurveAtTime compute the expression of the point on the curve c at t, defined by the waypoint pi and one free waypoint (x)
waypoint_t	bezier_com_traj::evaluateAccelerationCurveWaypointAtTime (const ProblemData &pData, const double T, const std::vector< point_t > &pi, double t)
	evaluateCurveAtTime compute the expression of the point on the curve c at t, defined by the waypoint pi and one free waypoint (x)
waypoint_t	bezier_com_traj::evaluateJerkCurveWaypointAtTime (const ProblemData &pData, const double T, const std::vector< point_t > &pi, double t)
	evaluateCurveAtTime compute the expression of the point on the curve c at t, defined by the waypoint pi and one free waypoint (x)
std::vector< point_t >	bezier_com_traj::computeConstantWaypoints (const ProblemData &pData, double T)
	computeConstantWaypoints compute the constant waypoints of c(t) defined by the constraints on initial and final states
bezier_wp_t::t_point_t	bezier_com_traj::computeConstantWaypointsSymbolic (const ProblemData &pData, double T)
	computeConstantWaypointsSymbolic compute the constant waypoints of c(t) defined by the constraints on initial and final states
std::vector< waypoint_t >	bezier_com_traj::computeVelocityWaypoints (const ProblemData &pData, const double T, std::vector< bezier_t::point_t > pi=std::vector< bezier_t::point_t >())
	computeWwaypoints compute the constant waypoints of dc(t) defined by the constraints on initial and final states
std::vector< waypoint_t >	bezier_com_traj::computeAccelerationWaypoints (const ProblemData &pData, const double T, std::vector< bezier_t::point_t > pi=std::vector< bezier_t::point_t >())
	computeWwaypoints compute the constant waypoints of ddc(t) defined by the constraints on initial and final states
std::vector< waypoint_t >	bezier_com_traj::computeJerkWaypoints (const ProblemData &pData, const double T, std::vector< bezier_t::point_t > pi=std::vector< bezier_t::point_t >())
	computeWwaypoints compute the constant waypoints of dddc(t) defined by the constraints on initial and final states
bezier_wp_t::t_point_t	bezier_com_traj::computeWwaypoints (const ProblemData &pData, double T)
	computeConstantWaypoints compute the constant waypoints of w(t) defined by the constraints on initial and final states
coefs_t	bezier_com_traj::computeFinalVelocityPoint (const ProblemData &pData, double T)
std::pair< MatrixXX, VectorX >	bezier_com_traj::computeVelocityCost (const ProblemData &pData, double T, std::vector< bezier_t::point_t > pi)
	computeVelocityCost the matrices H and g defining a cost that minimise the integral of the squared velocity

Macro Definition Documentation

BEZIER_COM_TRAJ_WP_DEF_H

#define BEZIER_COM_TRAJ_WP_DEF_H