| Directory: | ./ |
|---|---|
| File: | include/hpp/bezier-com-traj/common_solve_methods.inl |
| Date: | 2025-03-18 04:20:50 |
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| Lines: | 16 | 16 | 100.0% |
| Branches: | 10 | 16 | 62.5% |
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| 1 | |||
| 2 | namespace bezier_com_traj { | ||
| 3 | |||
| 4 | template <typename Point> | ||
| 5 | 25 | std::vector<std::pair<double, Point> > computeDiscretizedWaypoints( | |
| 6 | const ProblemData& pData, double T, const T_time& timeArray) { | ||
| 7 | typedef std::pair<double, Point> coefs_t; | ||
| 8 | 25 | std::vector<coefs_t> wps; | |
| 9 |
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25 | std::vector<Point> pi = computeConstantWaypoints(pData, T); |
| 10 | // evaluate curve work with normalized time ! | ||
| 11 |
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439 | for (CIT_time cit = timeArray.begin(); cit != timeArray.end(); ++cit) { |
| 12 | 414 | double t = std::min(cit->first / T, 1.); | |
| 13 |
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414 | wps.push_back(evaluateCurveAtTime(pData, pi, t)); |
| 14 | } | ||
| 15 | 50 | return wps; | |
| 16 | 25 | } | |
| 17 | |||
| 18 | template <typename Point> | ||
| 19 | 65 | std::vector<std::pair<double, Point> > computeDiscretizedAccelerationWaypoints( | |
| 20 | const ProblemData& pData, double T, const T_time& timeArray) { | ||
| 21 | typedef std::pair<double, Point> coefs_t; | ||
| 22 | 65 | std::vector<coefs_t> wps; | |
| 23 |
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65 | std::vector<Point> pi = computeConstantWaypoints(pData, T); |
| 24 | // evaluate curve work with normalized time ! | ||
| 25 |
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1307 | for (CIT_time cit = timeArray.begin(); cit != timeArray.end(); ++cit) { |
| 26 | 1242 | double t = std::min(cit->first / T, 1.); | |
| 27 |
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1242 | wps.push_back(evaluateAccelerationCurveAtTime(pData, pi, T, t)); |
| 28 | } | ||
| 29 | 130 | return wps; | |
| 30 | 65 | } | |
| 31 | |||
| 32 | } // end namespace bezier_com_traj | ||
| 33 |