waypoints_definition.hh

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/*
 * Copyright 2018, LAAS-CNRS
 * Author: Pierre Fernbach
 */
 
#ifndef BEZIER_COM_TRAJ_WP_DEF_H
#define BEZIER_COM_TRAJ_WP_DEF_H
 
#include <hpp/bezier-com-traj/data.hh>
 
namespace bezier_com_traj {
coefs_t evaluateCurveAtTime(const ProblemData& pData,
                            const std::vector<point_t>& pi, double t);
 
coefs_t evaluateVelocityCurveAtTime(const ProblemData& pData,
                                    const std::vector<point_t>& pi, double T,
                                    double t);
 
coefs_t evaluateAccelerationCurveAtTime(const ProblemData& pData,
                                        const std::vector<point_t>& pi,
                                        double T, double t);
 
coefs_t evaluateJerkCurveAtTime(const ProblemData& pData,
                                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 computeConstantWaypointsSymbolic(
    const ProblemData& pData, double T);
 
std::vector<waypoint_t> computeVelocityWaypoints(
    const ProblemData& pData, const double T,
    std::vector<bezier_t::point_t> pi = std::vector<bezier_t::point_t>());
 
std::vector<waypoint_t> computeAccelerationWaypoints(
    const ProblemData& pData, const double T,
    std::vector<bezier_t::point_t> pi = std::vector<bezier_t::point_t>());
 
std::vector<waypoint_t> computeJerkWaypoints(
    const ProblemData& pData, const double T,
    std::vector<bezier_t::point_t> pi = std::vector<bezier_t::point_t>());
 
waypoint_t evaluateCurveWaypointAtTime(const ProblemData& pData,
                                       const std::vector<point_t>& pi,
                                       double t);
waypoint_t evaluateVelocityCurveWaypointAtTime(const ProblemData& pData,
                                               const double T,
                                               const std::vector<point_t>& pi,
                                               double t);
waypoint_t evaluateAccelerationCurveWaypointAtTime(
    const ProblemData& pData, const double T, const std::vector<point_t>& pi,
    double t);
waypoint_t evaluateJerkCurveWaypointAtTime(const ProblemData& pData,
                                           const double T,
                                           const std::vector<point_t>& pi,
                                           double t);
 
bezier_wp_t::t_point_t computeWwaypoints(const ProblemData& pData, double T);
 
coefs_t computeFinalVelocityPoint(const ProblemData& pData, double T);
 
int dimVar(const ProblemData& pData);
 
std::pair<MatrixXX, VectorX> computeVelocityCost(
    const ProblemData& pData, double T,
    std::vector<bezier_t::point_t> pi = std::vector<bezier_t::point_t>());
 
}  // namespace bezier_com_traj
 
#endif