#include <ndcurves/helpers/effector_spline_rotation.h>

Inheritance diagram for ndcurves::helpers::rotation_spline:

[legend]

Collaboration diagram for ndcurves::helpers::rotation_spline:

[legend]

Public Member Functions
	rotation_spline (quat_ref_const_t quat_from=quat_t(0, 0, 0, 1), quat_ref_const_t quat_to=quat_t(0, 0, 0, 1), const double min=0., const double max=1.)

	~rotation_spline ()

rotation_spline &	operator= (const rotation_spline &from)

quat_t	operator() (const Numeric t) const

bool	isApprox (const rotation_spline &other, const Numeric prec=Eigen::NumTraits< Numeric >::dummy_precision()) const
	isApprox check if other and *this are approximately equals. Only two curves of the same class can be approximately equals, for comparison between different type of curves see isEquivalent

virtual bool	isApprox (const curve_abc_quat_t *other, const Numeric prec=Eigen::NumTraits< Numeric >::dummy_precision()) const

virtual bool	operator== (const rotation_spline &other) const

virtual bool	operator!= (const rotation_spline &other) const

virtual quat_t	derivate (time_t, std::size_t) const

curve_abc_quat_t *	compute_derivate_ptr (const std::size_t) const
	Compute the derived curve at order N.

exact_cubic_constraint_one_dim	computeWayPoints () const
	Initialize time re-parametrization for spline.

virtual std::size_t	dim () const
	Get dimension of curve.

virtual time_t	min () const
	Get the minimum time for which the curve is defined.

virtual time_t	max () const
	Get the maximum time for which the curve is defined.

virtual std::size_t	degree () const
	Get the degree of the curve.

Public Member Functions inherited from ndcurves::curve_abc< Time, Numeric, Safe, Point, Point_derivate >
	curve_abc ()
	Constructor.

virtual	~curve_abc ()
	Destructor.

virtual point_t	operator() (const time_t t) const =0
	Evaluation of the cubic spline at time t.

virtual point_derivate_t	derivate (const time_t t, const std::size_t order) const =0
	Evaluate the derivative of order N of curve at time t.

bool	isEquivalent (const curve_t *other, const Numeric prec=Eigen::NumTraits< Numeric >::dummy_precision(), const size_t order=5) const
	isEquivalent check if other and *this are approximately equal by values, given a precision threshold. This test is done by discretizing both curves and evaluating them and their derivatives.

virtual bool	isApprox (const curve_t *other, const Numeric prec=Eigen::NumTraits< Numeric >::dummy_precision()) const =0
	isApprox check if other and *this are approximately equal given a precision threshold Only two curves of the same class can be approximately equal, for comparison between different type of curves see isEquivalent.

std::pair< time_t, time_t >	timeRange ()

template<class Archive >
void	serialize (Archive &ar, const unsigned int version)

Public Member Functions inherited from ndcurves::serialization::Serializable
template<class Derived >
void	loadFromText (const std::string &filename)
	Loads a Derived object from a text file.

template<class Derived >
void	saveAsText (const std::string &filename) const
	Saved a Derived object as a text file.

template<class Derived >
void	loadFromXML (const std::string &filename, const std::string &tag_name)
	Loads a Derived object from an XML file.

template<class Derived >
void	saveAsXML (const std::string &filename, const std::string &tag_name) const
	Saved a Derived object as an XML file.

template<class Derived >
void	loadFromBinary (const std::string &filename)
	Loads a Derived object from an binary file.

template<class Derived >
void	saveAsBinary (const std::string &filename) const
	Saved a Derived object as an binary file.

Public Attributes
Eigen::Quaterniond	quat_from_

Eigen::Quaterniond	quat_to_

std::size_t	dim_

double	min_

double	max_

exact_cubic_constraint_one_dim	time_reparam_

Additional Inherited Members
Public Types inherited from ndcurves::curve_abc< Time, Numeric, Safe, Point, Point_derivate >
typedef Point	point_t

typedef Point_derivate	point_derivate_t

typedef Time	time_t

typedef Numeric	num_t

typedef curve_abc< Time, Numeric, Safe, point_t, point_derivate_t >	curve_t

typedef curve_abc< Time, Numeric, Safe, point_derivate_t >	curve_derivate_t

typedef std::shared_ptr< curve_t >	curve_ptr_t

Constructor & Destructor Documentation

◆ rotation_spline()

ndcurves::helpers::rotation_spline::rotation_spline	(	quat_ref_const_t	quat_from = `quat_t(0, 0, 0, 1)`,
		quat_ref_const_t	quat_to = `quat_t(0, 0, 0, 1)`,
		const double	min = `0.`,
		const double	max = `1.`
	)

inline

◆ ~rotation_spline()

ndcurves::helpers::rotation_spline::~rotation_spline ( )

inline

Member Function Documentation

◆ compute_derivate_ptr()

curve_abc_quat_t * ndcurves::helpers::rotation_spline::compute_derivate_ptr ( const std::size_t ) const

inlinevirtual

Compute the derived curve at order N.

Parameters

order : order of derivative.

Returns: A pointer to \(\frac{d^Nx(t)}{dt^N}\) derivative order N of the curve.

Implements ndcurves::curve_abc< Time, Numeric, Safe, Point, Point_derivate >.

◆ computeWayPoints()

exact_cubic_constraint_one_dim ndcurves::helpers::rotation_spline::computeWayPoints ( ) const

inline

Initialize time re-parametrization for spline.

◆ degree()

virtual std::size_t ndcurves::helpers::rotation_spline::degree ( ) const

inlinevirtual

Get the degree of the curve.

Returns: \(degree\), the degree of the curve.

Implements ndcurves::curve_abc< Time, Numeric, Safe, Point, Point_derivate >.

◆ derivate()

virtual quat_t ndcurves::helpers::rotation_spline::derivate	(	time_t	,
		std::size_t
	)		const

inlinevirtual

◆ dim()

virtual std::size_t ndcurves::helpers::rotation_spline::dim ( ) const

inlinevirtual

Get dimension of curve.

Returns: dimension of curve.

Implements ndcurves::curve_abc< Time, Numeric, Safe, Point, Point_derivate >.

◆ isApprox() [1/2]

virtual bool ndcurves::helpers::rotation_spline::isApprox	(	const curve_abc_quat_t *	other,
		const Numeric	prec = `Eigen::NumTraits<Numeric>::dummy_precision()`
	)		const

inlinevirtual

◆ isApprox() [2/2]

bool ndcurves::helpers::rotation_spline::isApprox	(	const rotation_spline &	other,
		const Numeric	prec = `Eigen::NumTraits<Numeric>::dummy_precision()`
	)		const

inline

isApprox check if other and *this are approximately equals. Only two curves of the same class can be approximately equals, for comparison between different type of curves see isEquivalent

Parameters

other	the other curve to check
prec	the precision threshold, default Eigen::NumTraits<Numeric>::dummy_precision()

Returns: true is the two curves are approximately equals

◆ max()

virtual time_t ndcurves::helpers::rotation_spline::max ( ) const

inlinevirtual

Get the maximum time for which the curve is defined.

Returns: \(t_{max}\), upper bound of time range.

Implements ndcurves::curve_abc< Time, Numeric, Safe, Point, Point_derivate >.

◆ min()

virtual time_t ndcurves::helpers::rotation_spline::min ( ) const

inlinevirtual

Get the minimum time for which the curve is defined.

Returns: \(t_{min}\), lower bound of time range.

Implements ndcurves::curve_abc< Time, Numeric, Safe, Point, Point_derivate >.

◆ operator!=()

virtual bool ndcurves::helpers::rotation_spline::operator!= ( const rotation_spline & other ) const

inlinevirtual

◆ operator()()

quat_t ndcurves::helpers::rotation_spline::operator() ( const Numeric t ) const

inline

◆ operator=()

rotation_spline & ndcurves::helpers::rotation_spline::operator= ( const rotation_spline & from )

inline

◆ operator==()

virtual bool ndcurves::helpers::rotation_spline::operator== ( const rotation_spline & other ) const

inlinevirtual

Member Data Documentation

◆ dim_

std::size_t ndcurves::helpers::rotation_spline::dim_

◆ max_

double ndcurves::helpers::rotation_spline::max_

◆ min_

double ndcurves::helpers::rotation_spline::min_

◆ quat_from_

Eigen::Quaterniond ndcurves::helpers::rotation_spline::quat_from_

◆ quat_to_

Eigen::Quaterniond ndcurves::helpers::rotation_spline::quat_to_

◆ time_reparam_

exact_cubic_constraint_one_dim ndcurves::helpers::rotation_spline::time_reparam_

The documentation for this class was generated from the following file:

include/ndcurves/helpers/effector_spline_rotation.h

Public Member Functions

Public Attributes

Additional Inherited Members

Constructor & Destructor Documentation

◆ rotation_spline()

◆ ~rotation_spline()

Member Function Documentation

◆ compute_derivate_ptr()

◆ computeWayPoints()

◆ degree()

◆ derivate()

◆ dim()

◆ isApprox() [1/2]

◆ isApprox() [2/2]

◆ max()

◆ min()

◆ operator!=()

◆ operator()()

◆ operator=()

◆ operator==()

Member Data Documentation

◆ dim_

◆ max_

◆ min_

◆ quat_from_

◆ quat_to_

◆ time_reparam_