effector_spline.h File Reference

#include "ndcurves/exact_cubic.h"

Include dependency graph for effector_spline.h:

This graph shows which files directly or indirectly include this file:

Go to the source code of this file.

Namespaces
namespace	ndcurves
namespace	ndcurves::helpers

Typedefs
typedef double	ndcurves::helpers::Numeric
typedef double	ndcurves::helpers::Time
typedef Eigen::Matrix< Numeric, Eigen::Dynamic, 1 >	ndcurves::helpers::Point
typedef std::vector< Point, Eigen::aligned_allocator< Point > >	ndcurves::helpers::T_Point
typedef std::pair< double, Point >	ndcurves::helpers::Waypoint
typedef std::vector< Waypoint >	ndcurves::helpers::T_Waypoint
typedef exact_cubic< Time, Numeric, true, Point, T_Point >	ndcurves::helpers::exact_cubic_t
typedef exact_cubic_t::spline_constraints	ndcurves::helpers::spline_constraints_t
typedef exact_cubic_t::t_spline_t	ndcurves::helpers::t_spline_t
typedef exact_cubic_t::spline_t	ndcurves::helpers::spline_t

Functions
Waypoint	ndcurves::helpers::compute_offset (const Waypoint &source, const Point &normal, const Numeric offset, const Time time_offset)
	Compute time such that the equation from source to offsetpoint is necessarily a line.
spline_t	ndcurves::helpers::make_end_spline (const Point &normal, const Point &from, const Numeric offset, const Time init_time, const Time time_offset)
	Compute spline from land way point to end point. Constraints are null velocity and acceleration.
spline_constraints_t	ndcurves::helpers::compute_required_offset_velocity_acceleration (const spline_t &end_spline, const Time)
	Compute end velocity : along landing normal and respecting time.
template<typename In >
exact_cubic_t *	ndcurves::helpers::effector_spline (In wayPointsBegin, In wayPointsEnd, const Point &lift_normal=Eigen::Vector3d::UnitZ(), const Point &land_normal=Eigen::Vector3d::UnitZ(), const Numeric lift_offset=0.02, const Numeric land_offset=0.02, const Time lift_offset_duration=0.02, const Time land_offset_duration=0.02)
	Helper method to create a spline typically used to guide the 3d trajectory of a robot end effector. Given a set of waypoints, and the normal vector of the start and ending positions, automatically create the spline such that: