#include <hpp/core/path/hermite.hh>

Inheritance diagram for hpp::core::path::Hermite:

Collaboration diagram for hpp::core::path::Hermite:

Public Types
typedef Spline< BernsteinBasis, 3 >	parent_t

Public Types inherited from hpp::core::path::Spline< BernsteinBasis, 3 >
enum

typedef internal::sbf_traits< PolynomeBasis, Order >	sbf_traits

typedef internal::spline_basis_function< PolynomeBasis, Order >	BasisFunction_t

typedef Eigen::Matrix< value_type, NbPowerOfT, 1 >	PowersOfT_t

typedef sbf_traits::Coeffs_t	BasisFunctionVector_t

typedef sbf_traits::IntegralCoeffs_t	BasisFunctionIntegralMatrix_t

typedef Eigen::Matrix< value_type, NbCoeffs, Eigen::Dynamic, Eigen::RowMajor >	ParameterMatrix_t

typedef Eigen::Map< const vector_t, Eigen::Aligned >	ConstParameterVector_t

typedef Eigen::Map< vector_t, Eigen::Aligned >	ParameterVector_t

typedef boost::shared_ptr< Spline >	Ptr_t

typedef boost::weak_ptr< Spline >	WkPtr_t

Public Member Functions
virtual	~Hermite () throw ()
	Destructor. More...

virtual PathPtr_t	copy () const
	Return a shared pointer to this. More...

virtual PathPtr_t	copy (const ConstraintSetPtr_t &constraints) const
	Return a shared pointer to a copy of this and set constraints. More...

DevicePtr_t	device () const
	Return the internal robot. More...

void	v0 (const vectorIn_t &speed)

void	v1 (const vectorIn_t &speed)

vector_t	v0 () const

vector_t	v1 () const

virtual Configuration_t	initial () const
	Get the initial configuration. More...

virtual Configuration_t	end () const
	Get the final configuration. More...

const value_type &	hermiteLength () const

void	computeHermiteLength ()

vector_t	velocity (const value_type &t) const

Public Member Functions inherited from hpp::core::path::Spline< BernsteinBasis, 3 >
size_type	parameterSize () const

void	parameterDerivativeCoefficients (vectorOut_t res, const value_type &t) const
	The partial derivative with respects to the parameters is of the form \begin{eqnarray} \frac{\partial S}{\partial p_{k}} (q, p, t) &=& B_k(t) \times I \\ \frac{\partial S}{\partial q_{base}} (q, p, t) &=& I \end{eqnarray} This method returns the coefficients \( (B_k(t))_{k} \). More...

void	parameterIntegrate (vectorIn_t dParam)
	Adds dParam to the parameters. More...

value_type	squaredNormIntegral (const size_type order) const
	Returns \( \int S^{(k)}(t)^T \times S^{(k)}(t) dt \). More...

void	squaredNormIntegralDerivative (const size_type order, vectorOut_t res) const
	Returns the derivative of squaredNormIntegral wrt the parameters. More...

void	basisFunctionDerivative (const size_type order, const value_type &u, BasisFunctionVector_t &res) const
	Returns a vector \( (v_i) \) as \[ v_i = T^{-k} b_i^{(k)}(u) \] . More...

void	basisFunctionDerivative (const size_type order, const value_type &u, vectorOut_t res) const

void	maxVelocity (vectorOut_t res) const
	Returns an upper bound of the velocity on the complete interval. More...

void	squaredNormBasisFunctionIntegral (const size_type order, BasisFunctionIntegralMatrix_t &res) const
	Returns a matrix \( (m_{i,j}) \) as \[ m_{i,j} = T^{1-2k} \int_0^1 b_i^{(k)}(u) b_j^{(k)}(u) du \] . More...

void	squaredNormBasisFunctionIntegral (const size_type order, matrixOut_t res) const

const Configuration_t &	base () const
	Get the base configuration. More...

void	base (const Configuration_t &q)

const ParameterMatrix_t &	parameters () const
	Each row corresponds to a velocity of the robot. More...

void	parameters (const ParameterMatrix_t &m)
	Returns the \( (P_i^T) \). More...

ConstParameterVector_t	rowParameters () const
	Concatenate the parameters as one vector (P_0^T, ..., P_n^T). More...

void	rowParameters (vectorIn_t p)
	Set the parameters. More...

PathPtr_t	copy () const
	Return a shared pointer to a copy of this. More...

PathPtr_t	copy (const ConstraintSetPtr_t &constraints) const
	Return a shared pointer to a copy of this and set constraints. More...

virtual	~Spline () throw ()

Public Member Functions inherited from hpp::core::Path
virtual	~Path () throw ()
	Destructor. More...

template<class T >
boost::shared_ptr< T >	as (void)
	Static cast into a derived type. More...

template<class T >
boost::shared_ptr< const T >	as (void) const
	Static cast into a derived type. More...

PathPtr_t	extract (const interval_t &subInterval) const throw (projection_error)

PathPtr_t	extract (const value_type &tmin, const value_type &tmax) const throw (projection_error)

virtual PathPtr_t	reverse () const
	Reversion of a path. More...

Configuration_t	operator() (const value_type &time) const HPP_CORE_DEPRECATED

Configuration_t	operator() (const value_type &time, bool &success) const

bool	operator() (ConfigurationOut_t result, const value_type &time) const throw ()

Configuration_t	eval (const value_type &time, bool &success) const

bool	eval (ConfigurationOut_t result, const value_type &time) const throw ()

bool	at (const value_type &time, ConfigurationOut_t result) const
	Get the configuration at a parameter without applying the constraints. More...

void	derivative (vectorOut_t result, const value_type &time, size_type order) const
	Get derivative with respect to parameter at given parameter. More...

void	velocityBound (vectorOut_t result, const value_type &t0, const value_type &t1) const
	Get an upper bound of the velocity on a sub-interval. More...

size_type	outputSize () const
	Get size of configuration space. More...

size_type	outputDerivativeSize () const
	Get size of velocity. More...

const interval_t &	timeRange () const
	Get interval of definition. More...

virtual value_type	length () const
	Get length of definition interval. More...

const ConstraintSetPtr_t &	constraints () const
	Get constraints the path is subject to. More...

const interval_t &	paramRange () const
	Get interval of parameters. More...

void	timeParameterization (const TimeParameterizationPtr_t &tp, const interval_t &tr)
	Set the time parameterization function. More...

Static Public Member Functions
static HermitePtr_t	create (const DevicePtr_t &device, ConfigurationIn_t init, ConfigurationIn_t end, ConstraintSetPtr_t constraints)

static HermitePtr_t	createCopy (const HermitePtr_t &path)
	Create copy and return shared pointer. More...

static HermitePtr_t	createCopy (const HermitePtr_t &path, const ConstraintSetPtr_t &constraints)
	Create copy and return shared pointer. More...

Static Public Member Functions inherited from hpp::core::path::Spline< BernsteinBasis, 3 >
static void	timeFreeBasisFunctionDerivative (const size_type order, const value_type &u, BasisFunctionVector_t &res)
	Returns a vector \( (v_i) \) as \[ v_i = b_i^{(k)}(u) \] . More...

static void	timeFreeBasisFunctionDerivative (const size_type order, const value_type &u, vectorOut_t res)

static Ptr_t	create (const DevicePtr_t &robot, const interval_t &interval, const ConstraintSetPtr_t &constraints)

static void	value (pinocchio::LiegroupElementConstRef base, Eigen::Ref< const ParameterMatrix_t > params, const value_type &u, ConfigurationOut_t config, vectorOut_t velocity)
	Evaluate a spline. More...

Protected Member Functions
virtual std::ostream &	print (std::ostream &os) const
	Print path in a stream. More...

	Hermite (const DevicePtr_t &robot, ConfigurationIn_t init, ConfigurationIn_t end)
	Constructor. More...

	Hermite (const DevicePtr_t &robot, ConfigurationIn_t init, ConfigurationIn_t end, ConstraintSetPtr_t constraints)
	Constructor with constraints. More...

	Hermite (const Hermite &path)
	Copy constructor. More...

	Hermite (const Hermite &path, const ConstraintSetPtr_t &constraints)
	Copy constructor with constraints. More...

void	init (HermitePtr_t self)

Protected Member Functions inherited from hpp::core::path::Spline< BernsteinBasis, 3 >
	Spline (const DevicePtr_t &robot, const interval_t &interval, const ConstraintSetPtr_t &constraints)

	Spline (const Spline &path)

	Spline (const Spline &path, const ConstraintSetPtr_t &constraints)

void	init (const Ptr_t &self)

std::ostream &	print (std::ostream &os) const
	Print interval of definition (and of parameters if relevant) in a stream. More...

bool	impl_compute (ConfigurationOut_t configuration, value_type t) const
	Function evaluation without applying constraints. More...

void	impl_derivative (vectorOut_t res, const value_type &t, size_type order) const
	Virtual implementation of derivative. More...

void	impl_paramDerivative (vectorOut_t res, const value_type &t) const

void	impl_paramIntegrate (vectorIn_t dParam)

void	impl_velocityBound (vectorOut_t result, const value_type &t0, const value_type &t1) const
	Virtual implementation of velocityBound. More...

Protected Member Functions inherited from hpp::core::Path
	Path (const interval_t &interval, size_type outputSize, size_type outputDerivativeSize, const ConstraintSetPtr_t &constraints)
	Constructor. More...

	Path (const interval_t &interval, size_type outputSize, size_type outputDerivativeSize)
	Constructor. More...

	Path (const Path &path)
	Copy constructor. More...

	Path (const Path &path, const ConstraintSetPtr_t &constraints)
	Copy constructor with constraints. More...

void	init (const PathWkPtr_t &self)
	Store weak pointer to itself. More...

void	constraints (const ConstraintSetPtr_t &constraint)
	Set the constraints. More...

virtual void	checkPath () const
	Should be called by child classes after having init. More...

void	timeRange (const interval_t &timeRange)

const TimeParameterizationPtr_t &	timeParameterization () const

value_type	paramLength () const

Configuration_t	configAtParam (const value_type &param, bool &success) const

virtual PathPtr_t	impl_extract (const interval_t &paramInterval) const throw (projection_error)
	Virtual implementation of extract. More...

Additional Inherited Members
Protected Attributes inherited from hpp::core::path::Spline< BernsteinBasis, 3 >
size_type	parameterSize_
	Robot number of degrees of freedom. More...

DevicePtr_t	robot_

LiegroupElement	base_
	Base of the spline path. More...

ParameterMatrix_t	parameters_
	Parameters of the spline are stored in a matrix number of rows = degree of polynomial + 1 number of columns = robot number of degrees of freedom. More...

Protected Attributes inherited from hpp::core::Path
interval_t	paramRange_
	Interval of parameters. More...

Member Typedef Documentation

◆ parent_t

typedef Spline<BernsteinBasis,3> hpp::core::path::Hermite::parent_t

Constructor & Destructor Documentation

◆ ~Hermite()

virtual hpp::core::path::Hermite::~Hermite	(	)
throw	(
	)

inlinevirtual

Destructor.

◆ Hermite() [1/4]

hpp::core::path::Hermite::Hermite	(	const DevicePtr_t &	robot,
		ConfigurationIn_t	init,
		ConfigurationIn_t	end
	)

protected

Constructor.

◆ Hermite() [2/4]

hpp::core::path::Hermite::Hermite	(	const DevicePtr_t &	robot,
		ConfigurationIn_t	init,
		ConfigurationIn_t	end,
		ConstraintSetPtr_t	constraints
	)

protected

Constructor with constraints.

◆ Hermite() [3/4]

hpp::core::path::Hermite::Hermite ( const Hermite & path )

protected

Copy constructor.

◆ Hermite() [4/4]

hpp::core::path::Hermite::Hermite	(	const Hermite &	path,
		const ConstraintSetPtr_t &	constraints
	)

protected

Copy constructor with constraints.

Member Function Documentation

◆ computeHermiteLength()

void hpp::core::path::Hermite::computeHermiteLength ( )

◆ copy() [1/2]

virtual PathPtr_t hpp::core::path::Hermite::copy ( ) const

inlinevirtual

Return a shared pointer to this.

As StaightPath are immutable, and refered to by shared pointers, they do not need to be copied.

Implements hpp::core::Path.

◆ copy() [2/2]

virtual PathPtr_t hpp::core::path::Hermite::copy ( const ConstraintSetPtr_t & constraints ) const

inlinevirtual

Return a shared pointer to a copy of this and set constraints.

Parameters

constraints constraints to apply to the copy

Precondition: *this should not have constraints.

Implements hpp::core::Path.

◆ create()

static HermitePtr_t hpp::core::path::Hermite::create	(	const DevicePtr_t &	device,
		ConfigurationIn_t	init,
		ConfigurationIn_t	end,
		ConstraintSetPtr_t	constraints
	)

inlinestatic

References init().

Referenced by hpp::core::steeringMethod::Hermite::impl_compute().

◆ createCopy() [1/2]

static HermitePtr_t hpp::core::path::Hermite::createCopy ( const HermitePtr_t & path )

inlinestatic

Create copy and return shared pointer.

Parameters

path	path to copy

References init().

◆ createCopy() [2/2]

static HermitePtr_t hpp::core::path::Hermite::createCopy	(	const HermitePtr_t &	path,
		const ConstraintSetPtr_t &	constraints
	)

inlinestatic

Create copy and return shared pointer.

Parameters

path	path to copy
constraints	the path is subject to

References init().

◆ device()

DevicePtr_t hpp::core::path::Hermite::device ( ) const

Return the internal robot.

◆ end()

virtual Configuration_t hpp::core::path::Hermite::end ( ) const

inlinevirtual

Get the final configuration.

Reimplemented from hpp::core::path::Spline< BernsteinBasis, 3 >.

◆ hermiteLength()

const value_type& hpp::core::path::Hermite::hermiteLength ( ) const

inline

◆ init()

void hpp::core::path::Hermite::init ( HermitePtr_t self )

protected

Referenced by create(), and createCopy().

◆ initial()

virtual Configuration_t hpp::core::path::Hermite::initial ( ) const

inlinevirtual

Get the initial configuration.

Reimplemented from hpp::core::path::Spline< BernsteinBasis, 3 >.

◆ print()

virtual std::ostream& hpp::core::path::Hermite::print ( std::ostream & os ) const

inlineprotectedvirtual

Print path in a stream.

Reimplemented from hpp::core::Path.

References hpp::core::Path::print().

◆ v0() [1/2]

void hpp::core::path::Hermite::v0 ( const vectorIn_t & speed )

inline

◆ v0() [2/2]

vector_t hpp::core::path::Hermite::v0 ( ) const

inline

◆ v1() [1/2]

void hpp::core::path::Hermite::v1 ( const vectorIn_t & speed )

inline

◆ v1() [2/2]

vector_t hpp::core::path::Hermite::v1 ( ) const

inline

◆ velocity()

vector_t hpp::core::path::Hermite::velocity ( const value_type & t ) const

Public Types

Public Member Functions

Static Public Member Functions

Protected Member Functions

Additional Inherited Members

Member Typedef Documentation

◆ parent_t

Constructor & Destructor Documentation

◆ ~Hermite()

◆ Hermite() [1/4]

◆ Hermite() [2/4]

◆ Hermite() [3/4]

◆ Hermite() [4/4]

Member Function Documentation

◆ computeHermiteLength()

◆ copy() [1/2]

◆ copy() [2/2]

◆ create()

◆ createCopy() [1/2]

◆ createCopy() [2/2]

◆ device()

◆ end()

◆ hermiteLength()

◆ init()

◆ initial()

◆ print()

◆ v0() [1/2]

◆ v0() [2/2]

◆ v1() [1/2]

◆ v1() [2/2]

◆ velocity()