waypoints_definition.hh File Reference

#include <hpp/bezier-com-traj/data.hh>

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Namespaces
namespace	bezier_com_traj

Functions
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::evaluateVelocityCurveAtTime (const ProblemData &pData, const std::vector< point_t > &pi, double T, double t)
	evaluateVelocityCurveAtTime compute the expression of the point on the curve dc 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)
coefs_t	bezier_com_traj::evaluateJerkCurveAtTime (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)
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
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)
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)
int	bezier_com_traj::dimVar (const ProblemData &pData)
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