exact_cubic.h File Reference

class allowing to create an Exact cubic spline. More...

#include <functional>
#include <vector>
#include "MathDefs.h"
#include "curve_abc.h"
#include "curve_constraint.h"
#include "piecewise_curve.h"
#include "polynomial.h"

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Classes
struct	ndcurves::exact_cubic< Time, Numeric, Safe, Point, T_Point, SplineBase >

Namespaces
namespace	ndcurves

Detailed Description

class allowing to create an Exact cubic spline.

Author

Steve T.

Version

0.1

Date

06/17/2013

This file contains definitions for the ExactCubic class. Given a set of waypoints (x_i*) and timestep (t_i), it provides the unique set of cubic splines fulfulling those 4 restrictions :

• x_i(t_i) = x_i* ; this means that the curve passes trough each waypoint
• x_i(t_i+1) = x_i+1* ;
• its derivative is continous at t_i+1
• its acceleration is continous at t_i+1 more details in paper "Task-Space Trajectories via Cubic Spline Optimization" By J. Zico Kolter and Andrew Y.ng (ICRA 2009)