Namespaces
namespace	helpers

namespace	optimization

namespace	serialization

Classes
struct	Bern

struct	bezier_curve

class	constant_curve
	Represents a constant_curve curve, always returning the same value and a null derivative. More...

struct	cubic_hermite_spline

struct	curve_abc
	Represents a curve of dimension Dim. If value of parameter Safe is false, no verification is made on the evaluation of the curve. More...

struct	curve_constraints

struct	exact_cubic

struct	linear_variable

struct	piecewise_curve

class	polynomial
	Represents a polynomial of an arbitrary order defined on the interval \([t_{min}, t_{max}]\). It follows the equation : \( x(t) = a + b(t - t_{min}) + ... + d(t - t_{min})^N \) where N is the order and \( t \in [t_{min}, t_{max}] \). More...

struct	quadratic_variable

class	SE3Curve
	Composition of a curve of any type of dimension 3 and a curve representing an rotation (in current implementation, only SO3Linear can be used for the rotation part) The output is a vector of size 7 (pos_x,pos_y,pos_z,quat_x,quat_y,quat_z,quat_w) The output of the derivative of any order is a vector of size 6 (linear_x,linear_y,linear_z,angular_x,angular_y,angular_z) More...

class	sinusoidal
	Represents a sinusoidal curve, evaluating the following equation: p0 + amplitude * (sin(2pi/T + phi) More...

class	SO3Linear
	Represents a linear interpolation in SO3, using the slerp method provided by Eigen::Quaternion. More...

struct	SO3Smooth

Typedefs
typedef Eigen::Matrix< double, 1, 1 >	point1_t

typedef Eigen::Vector3d	point3_t

typedef Eigen::Matrix< double, 6, 1 >	point6_t

typedef Eigen::VectorXd	pointX_t

typedef Eigen::Matrix< double, 3, 3 >	matrix3_t

typedef Eigen::Matrix< double, 4, 4 >	matrix4_t

typedef Eigen::Quaternion< double >	quaternion_t

typedef Eigen::Transform< double, 3, Eigen::Affine >	transform_t

typedef std::vector< point1_t, Eigen::aligned_allocator< point1_t > >	t_point1_t

typedef std::vector< point3_t, Eigen::aligned_allocator< point3_t > >	t_point3_t

typedef std::vector< pointX_t, Eigen::aligned_allocator< pointX_t > >	t_pointX_t

typedef Eigen::Ref< const matrix3_t >	matrix3_t_cst_ref

typedef curve_abc< double, double, true, pointX_t, pointX_t >	curve_abc_t

typedef curve_abc< double, double, true, point3_t, point3_t >	curve_3_t

typedef curve_3_t	curve_translation_t

typedef curve_abc< double, double, true, matrix3_t, point3_t >	curve_rotation_t

typedef curve_abc< double, double, true, transform_t, point6_t >	curve_SE3_t

typedef std::shared_ptr< curve_abc_t >	curve_ptr_t

typedef std::shared_ptr< curve_3_t >	curve3_ptr_t

typedef std::shared_ptr< curve_rotation_t >	curve_rotation_ptr_t

typedef std::shared_ptr< curve_translation_t >	curve_translation_ptr_t

typedef std::shared_ptr< curve_SE3_t >	curve_SE3_ptr_t

typedef polynomial< double, double, true, pointX_t, t_pointX_t >	polynomial_t

typedef exact_cubic< double, double, true, pointX_t, t_pointX_t, polynomial_t >	exact_cubic_t

typedef bezier_curve< double, double, true, pointX_t >	bezier_t

typedef linear_variable< double, true >	linear_variable_t

typedef bezier_curve< double, double, true, linear_variable_t >	bezier_linear_variable_t

typedef constant_curve< double, double, true, pointX_t, pointX_t >	constant_t

typedef cubic_hermite_spline< double, double, true, pointX_t >	cubic_hermite_spline_t

typedef piecewise_curve< double, double, true, pointX_t, pointX_t, curve_abc_t >	piecewise_t

typedef sinusoidal< double, double, true, pointX_t >	sinusoidal_t

typedef polynomial< double, double, true, point3_t, t_point3_t >	polynomial3_t

typedef polynomial< double, double, true, point1_t, t_point1_t >	polynomial1_t

typedef exact_cubic< double, double, true, point3_t, t_point3_t, polynomial_t >	exact_cubic3_t

typedef bezier_curve< double, double, true, point3_t >	bezier3_t

typedef constant_curve< double, double, true, point3_t, point3_t >	constant3_t

typedef cubic_hermite_spline< double, double, true, point3_t >	cubic_hermite_spline3_t

typedef piecewise_curve< double, double, true, point3_t, point3_t, curve_3_t >	piecewise3_t

typedef SO3Smooth< double, double, true >	SO3Smooth_t

typedef SO3Linear< double, double, true >	SO3Linear_t

typedef SE3Curve< double, double, true >	SE3Curve_t

typedef piecewise_curve< double, double, true, transform_t, point6_t, curve_SE3_t >	piecewise_SE3_t

typedef double	real

typedef std::vector< real >	t_time_t

typedef Eigen::VectorXd	time_waypoints_t

typedef Eigen::Matrix< double, Eigen::Dynamic, 1, 0, Eigen::Dynamic, 1 >	ret_pointX_t

typedef std::pair< pointX_t, pointX_t >	pair_pointX_tangent_t

typedef Eigen::MatrixXd	pointX_list_t

typedef std::vector< pair_pointX_tangent_t, Eigen::aligned_allocator< pair_pointX_tangent_t > >	t_pair_pointX_tangent_t

typedef ndcurves::curve_constraints< pointX_t >	curve_constraints_t

typedef ndcurves::curve_constraints< point3_t >	curve_constraints3_t

typedef std::pair< real, pointX_t >	waypoint_t

typedef std::vector< waypoint_t >	t_waypoint_t

typedef Eigen::Matrix< real, Eigen::Dynamic, Eigen::Dynamic >	point_listX_t

typedef Eigen::Matrix< real, 3, Eigen::Dynamic >	point_list3_t

typedef Eigen::Matrix< real, 6, Eigen::Dynamic >	point_list6_t

typedef polynomial_t::coeff_t	coeff_t

typedef ndcurves::Bern< double >	bernstein_t

Functions
template<typename T , typename N , bool S, typename P >
bezier_curve< T, N, S, P >	operator+ (const bezier_curve< T, N, S, P > &p1, const bezier_curve< T, N, S, P > &p2)

template<typename T , typename N , bool S, typename P >
bezier_curve< T, N, S, P >	operator- (const bezier_curve< T, N, S, P > &p1)

template<typename T , typename N , bool S, typename P >
bezier_curve< T, N, S, P >	operator- (const bezier_curve< T, N, S, P > &p1, const bezier_curve< T, N, S, P > &p2)

template<typename T , typename N , bool S, typename P >
bezier_curve< T, N, S, P >	operator- (const bezier_curve< T, N, S, P > &p1, const typename bezier_curve< T, N, S, P >::point_t &point)

template<typename T , typename N , bool S, typename P >
bezier_curve< T, N, S, P >	operator- (const typename bezier_curve< T, N, S, P >::point_t &point, const bezier_curve< T, N, S, P > &p1)

template<typename T , typename N , bool S, typename P >
bezier_curve< T, N, S, P >	operator+ (const bezier_curve< T, N, S, P > &p1, const typename bezier_curve< T, N, S, P >::point_t &point)

template<typename T , typename N , bool S, typename P >
bezier_curve< T, N, S, P >	operator+ (const typename bezier_curve< T, N, S, P >::point_t &point, const bezier_curve< T, N, S, P > &p1)

template<typename T , typename N , bool S, typename P >
bezier_curve< T, N, S, P >	operator/ (const bezier_curve< T, N, S, P > &p1, const double k)

template<typename T , typename N , bool S, typename P >
bezier_curve< T, N, S, P >	operator* (const bezier_curve< T, N, S, P > &p1, const double k)

template<typename T , typename N , bool S, typename P >
bezier_curve< T, N, S, P >	operator* (const double k, const bezier_curve< T, N, S, P > &p1)

Eigen::Vector3d	cross (const Eigen::VectorXd &a, const Eigen::VectorXd &b)

Eigen::Vector3d	cross (const Eigen::Vector3d &a, const Eigen::Vector3d &b)

Eigen::Vector3f	cross (const Eigen::Vector3f &a, const Eigen::Vector3f &b)

template<typename N , bool S>
linear_variable< N, S >	cross (const linear_variable< N, S > &a, const linear_variable< N, S > &b)

template<typename T >
bool	isApprox (const T a, const T b, const T eps=1e-6)

template<typename Polynomial >
Polynomial	polynomial_from_curve (const typename Polynomial::curve_abc_t &curve)
	Converts a cubic hermite spline or a bezier curve to a polynomial.

template<typename Bezier >
Bezier	bezier_from_curve (const typename Bezier::curve_abc_t &curve)
	Converts a cubic hermite spline or polynomial of order 3 or less to a cubic bezier curve.

template<typename Hermite >
Hermite	hermite_from_curve (const typename Hermite::curve_abc_t &curve)
	Converts a polynomial of order 3 or less/cubic bezier curve to a cubic hermite spline.

template<typename N , bool S>
linear_variable< N, S >	operator+ (const linear_variable< N, S > &w1, const linear_variable< N, S > &w2)

template<typename N , bool S>
linear_variable< N, S >	operator- (const linear_variable< N, S > &w1, const linear_variable< N, S > &w2)

template<typename N , bool S>
linear_variable< N, S >	operator- (const linear_variable< N, S > &w1)

template<typename N , bool S>
linear_variable< N, S >	operator* (const double k, const linear_variable< N, S > &w)

template<typename N , bool S>
linear_variable< N, S >	operator* (const linear_variable< N, S > &w, const double k)

template<typename N , bool S>
linear_variable< N, S >	operator/ (const linear_variable< N, S > &w, const double k)

template<typename BezierFixed , typename BezierLinear , typename X >
BezierFixed	evaluateLinear (const BezierLinear &bIn, const X x)

template<typename N , bool S>
std::ostream &	operator<< (std::ostream &os, const linear_variable< N, S > &l)

template<typename _Matrix_Type_ >
void	PseudoInverse (_Matrix_Type_ &pinvmat)
	An inverse kinematics architecture enforcing an arbitrary number of strict priority levels (Reference : Boulic et Al. 2003)

template<typename Matrix3 , typename Point >
Matrix3	skew (const Point &x)

template<typename T , typename N , bool S, typename P , typename TP >
polynomial< T, N, S, P, TP >	operator+ (const polynomial< T, N, S, P, TP > &p1, const polynomial< T, N, S, P, TP > &p2)

template<typename T , typename N , bool S, typename P , typename TP >
polynomial< T, N, S, P, TP >	operator+ (const polynomial< T, N, S, P, TP > &p1, const typename polynomial< T, N, S, P, TP >::point_t &point)

template<typename T , typename N , bool S, typename P , typename TP >
polynomial< T, N, S, P, TP >	operator+ (const typename polynomial< T, N, S, P, TP >::point_t &point, const polynomial< T, N, S, P, TP > &p1)

template<typename T , typename N , bool S, typename P , typename TP >
polynomial< T, N, S, P, TP >	operator- (const polynomial< T, N, S, P, TP > &p1, const typename polynomial< T, N, S, P, TP >::point_t &point)

template<typename T , typename N , bool S, typename P , typename TP >
polynomial< T, N, S, P, TP >	operator- (const typename polynomial< T, N, S, P, TP >::point_t &point, const polynomial< T, N, S, P, TP > &p1)

template<typename T , typename N , bool S, typename P , typename TP >
polynomial< T, N, S, P, TP >	operator- (const polynomial< T, N, S, P, TP > &p1)

template<typename T , typename N , bool S, typename P , typename TP >
polynomial< T, N, S, P, TP >	operator- (const polynomial< T, N, S, P, TP > &p1, const polynomial< T, N, S, P, TP > &p2)

template<typename T , typename N , bool S, typename P , typename TP >
polynomial< T, N, S, P, TP >	operator/ (const polynomial< T, N, S, P, TP > &p1, const double k)

template<typename T , typename N , bool S, typename P , typename TP >
polynomial< T, N, S, P, TP >	operator* (const polynomial< T, N, S, P, TP > &p1, const double k)

template<typename T , typename N , bool S, typename P , typename TP >
polynomial< T, N, S, P, TP >	operator* (const double k, const polynomial< T, N, S, P, TP > &p1)

template<typename PointList , typename T_Point >
T_Point	vectorFromEigenArray (const PointList &array)

template<typename PointList , typename T_Point >
T_Point	vectorFromEigenVector (const PointList &vector)

template<typename T_point , typename PointList >
PointList	vectorToEigenArray (const T_point &vect)

template<typename N >
Eigen::Matrix< N, Eigen::Dynamic, Eigen::Dynamic >	to_diagonal (const Eigen::Ref< const Eigen::Matrix< N, Eigen::Dynamic, 1 > > vec)
	Transforms a vector into a diagonal matrix.

template<typename N >
quadratic_variable< N >	operator* (const linear_variable< N > &w1, const linear_variable< N > &w2)

template<typename N >
quadratic_variable< N >	operator+ (const quadratic_variable< N > &w1, const quadratic_variable< N > &w2)

template<typename N >
quadratic_variable< N >	operator- (const quadratic_variable< N > &w1, const quadratic_variable< N > &w2)

template<typename N >
quadratic_variable< N >	operator* (const double k, const quadratic_variable< N > &w)

template<typename N >
quadratic_variable< N >	operator* (const quadratic_variable< N > &w, const double k)

template<typename N >
quadratic_variable< N >	operator/ (const quadratic_variable< N > &w, const double k)

Detailed Description

This file define a method register_types that register all the curves class of this package for a boost::Archive This is used to serialize pointer of the abstract class curve_abc

Typedef Documentation

◆ bernstein_t

typedef ndcurves::Bern<double> ndcurves::bernstein_t

◆ bezier3_t

typedef bezier_curve<double, double, true, point3_t> ndcurves::bezier3_t

◆ bezier_linear_variable_t

typedef bezier_curve<double, double, true, linear_variable_t> ndcurves::bezier_linear_variable_t

◆ bezier_t

typedef bezier_curve<double, double, true, pointX_t> ndcurves::bezier_t

◆ coeff_t

typedef polynomial_t::coeff_t ndcurves::coeff_t

◆ constant3_t

typedef constant_curve<double, double, true, point3_t, point3_t> ndcurves::constant3_t

◆ constant_t

typedef constant_curve<double, double, true, pointX_t, pointX_t> ndcurves::constant_t

◆ cubic_hermite_spline3_t

typedef cubic_hermite_spline<double, double, true, point3_t> ndcurves::cubic_hermite_spline3_t

◆ cubic_hermite_spline_t

typedef cubic_hermite_spline<double, double, true, pointX_t> ndcurves::cubic_hermite_spline_t

◆ curve3_ptr_t

typedef std::shared_ptr<curve_3_t> ndcurves::curve3_ptr_t

◆ curve_3_t

typedef curve_abc<double, double, true, point3_t, point3_t> ndcurves::curve_3_t

◆ curve_abc_t

typedef curve_abc<double, double, true, pointX_t, pointX_t> ndcurves::curve_abc_t

◆ curve_constraints3_t

typedef ndcurves::curve_constraints<point3_t> ndcurves::curve_constraints3_t

◆ curve_constraints_t

typedef ndcurves::curve_constraints<pointX_t> ndcurves::curve_constraints_t

◆ curve_ptr_t

typedef std::shared_ptr<curve_abc_t> ndcurves::curve_ptr_t

◆ curve_rotation_ptr_t

typedef std::shared_ptr<curve_rotation_t> ndcurves::curve_rotation_ptr_t

◆ curve_rotation_t

typedef curve_abc<double, double, true, matrix3_t, point3_t> ndcurves::curve_rotation_t

◆ curve_SE3_ptr_t

typedef std::shared_ptr<curve_SE3_t> ndcurves::curve_SE3_ptr_t

◆ curve_SE3_t

typedef curve_abc<double, double, true, transform_t, point6_t> ndcurves::curve_SE3_t

◆ curve_translation_ptr_t

typedef std::shared_ptr<curve_translation_t> ndcurves::curve_translation_ptr_t

◆ curve_translation_t

typedef curve_3_t ndcurves::curve_translation_t

◆ exact_cubic3_t

typedef exact_cubic<double, double, true, point3_t, t_point3_t, polynomial_t> ndcurves::exact_cubic3_t

◆ exact_cubic_t

typedef exact_cubic<double, double, true, pointX_t, t_pointX_t, polynomial_t> ndcurves::exact_cubic_t

◆ linear_variable_t

typedef linear_variable<double, true> ndcurves::linear_variable_t

◆ matrix3_t

typedef Eigen::Matrix<double, 3, 3> ndcurves::matrix3_t

◆ matrix3_t_cst_ref

typedef Eigen::Ref<const matrix3_t> ndcurves::matrix3_t_cst_ref

◆ matrix4_t

typedef Eigen::Matrix<double, 4, 4> ndcurves::matrix4_t

◆ pair_pointX_tangent_t

typedef std::pair<pointX_t, pointX_t> ndcurves::pair_pointX_tangent_t

◆ piecewise3_t

typedef piecewise_curve<double, double, true, point3_t, point3_t, curve_3_t> ndcurves::piecewise3_t

◆ piecewise_SE3_t

typedef piecewise_curve<double, double, true, transform_t, point6_t, curve_SE3_t> ndcurves::piecewise_SE3_t

◆ piecewise_t

typedef piecewise_curve<double, double, true, pointX_t, pointX_t, curve_abc_t> ndcurves::piecewise_t

◆ point1_t

typedef Eigen::Matrix<double, 1, 1> ndcurves::point1_t

◆ point3_t

typedef Eigen::Vector3d ndcurves::point3_t

◆ point6_t

typedef Eigen::Matrix<double, 6, 1> ndcurves::point6_t

◆ point_list3_t

typedef Eigen::Matrix<real, 3, Eigen::Dynamic> ndcurves::point_list3_t

◆ point_list6_t

typedef Eigen::Matrix<real, 6, Eigen::Dynamic> ndcurves::point_list6_t

◆ point_listX_t

typedef Eigen::Matrix<real, Eigen::Dynamic, Eigen::Dynamic> ndcurves::point_listX_t

◆ pointX_list_t

typedef Eigen::MatrixXd ndcurves::pointX_list_t

◆ pointX_t

typedef Eigen::VectorXd ndcurves::pointX_t

◆ polynomial1_t

typedef polynomial<double, double, true, point1_t, t_point1_t> ndcurves::polynomial1_t

◆ polynomial3_t

typedef polynomial<double, double, true, point3_t, t_point3_t> ndcurves::polynomial3_t

◆ polynomial_t

typedef polynomial<double, double, true, pointX_t, t_pointX_t> ndcurves::polynomial_t

◆ quaternion_t

typedef Eigen::Quaternion<double> ndcurves::quaternion_t

◆ real

typedef double ndcurves::real

◆ ret_pointX_t

typedef Eigen::Matrix<double, Eigen::Dynamic, 1, 0, Eigen::Dynamic, 1> ndcurves::ret_pointX_t

◆ SE3Curve_t

typedef SE3Curve<double, double, true> ndcurves::SE3Curve_t

◆ sinusoidal_t

typedef sinusoidal<double, double, true, pointX_t> ndcurves::sinusoidal_t

◆ SO3Linear_t

typedef SO3Linear<double, double, true> ndcurves::SO3Linear_t

◆ SO3Smooth_t

typedef SO3Smooth<double, double, true> ndcurves::SO3Smooth_t

◆ t_pair_pointX_tangent_t

typedef std::vector<pair_pointX_tangent_t, Eigen::aligned_allocator<pair_pointX_tangent_t> > ndcurves::t_pair_pointX_tangent_t

◆ t_point1_t

typedef std::vector<point1_t, Eigen::aligned_allocator<point1_t> > ndcurves::t_point1_t

◆ t_point3_t

typedef std::vector<point3_t, Eigen::aligned_allocator<point3_t> > ndcurves::t_point3_t

◆ t_pointX_t

typedef std::vector<pointX_t, Eigen::aligned_allocator<pointX_t> > ndcurves::t_pointX_t

◆ t_time_t

typedef std::vector<real> ndcurves::t_time_t

◆ t_waypoint_t

typedef std::vector<waypoint_t> ndcurves::t_waypoint_t

◆ time_waypoints_t

typedef Eigen::VectorXd ndcurves::time_waypoints_t

◆ transform_t

typedef Eigen::Transform<double, 3, Eigen::Affine> ndcurves::transform_t

◆ waypoint_t

typedef std::pair<real, pointX_t> ndcurves::waypoint_t

Function Documentation

◆ bezier_from_curve()

template<typename Bezier >

Bezier ndcurves::bezier_from_curve ( const typename Bezier::curve_abc_t & curve )

Converts a cubic hermite spline or polynomial of order 3 or less to a cubic bezier curve.

Parameters

curve : the polynomial of order 3 or less/cubic hermite spline defined between [Tmin,Tmax] to convert.

Returns: the equivalent cubic bezier curve.

◆ cross() [1/4]

Eigen::Vector3d ndcurves::cross	(	const Eigen::Vector3d &	a,
		const Eigen::Vector3d &	b
	)

inline

◆ cross() [2/4]

Eigen::Vector3f ndcurves::cross	(	const Eigen::Vector3f &	a,
		const Eigen::Vector3f &	b
	)

inline

◆ cross() [3/4]

Eigen::Vector3d ndcurves::cross	(	const Eigen::VectorXd &	a,
		const Eigen::VectorXd &	b
	)

inline

◆ cross() [4/4]

template<typename N , bool S>

linear_variable< N, S > ndcurves::cross	(	const linear_variable< N, S > &	a,
		const linear_variable< N, S > &	b
	)

◆ evaluateLinear()

template<typename BezierFixed , typename BezierLinear , typename X >

BezierFixed ndcurves::evaluateLinear	(	const BezierLinear &	bIn,
		const X	x
	)

◆ hermite_from_curve()

template<typename Hermite >

Hermite ndcurves::hermite_from_curve ( const typename Hermite::curve_abc_t & curve )

Converts a polynomial of order 3 or less/cubic bezier curve to a cubic hermite spline.

Parameters

curve : the polynomial of order 3 or less/cubic bezier curve defined between [Tmin,Tmax] to convert.

Returns: the equivalent cubic hermite spline.

◆ isApprox()

template<typename T >

bool ndcurves::isApprox	(	const T	a,
		const T	b,
		const T	eps = `1e-6`
	)

◆ operator*() [1/9]

template<typename T , typename N , bool S, typename P >

bezier_curve< T, N, S, P > ndcurves::operator*	(	const bezier_curve< T, N, S, P > &	p1,
		const double	k
	)

◆ operator*() [2/9]

template<typename T , typename N , bool S, typename P >

bezier_curve< T, N, S, P > ndcurves::operator*	(	const double	k,
		const bezier_curve< T, N, S, P > &	p1
	)

◆ operator*() [3/9]

template<typename N , bool S>

linear_variable< N, S > ndcurves::operator*	(	const double	k,
		const linear_variable< N, S > &	w
	)

◆ operator*() [4/9]

template<typename T , typename N , bool S, typename P , typename TP >

polynomial< T, N, S, P, TP > ndcurves::operator*	(	const double	k,
		const polynomial< T, N, S, P, TP > &	p1
	)

◆ operator*() [5/9]

template<typename N >

quadratic_variable< N > ndcurves::operator*	(	const double	k,
		const quadratic_variable< N > &	w
	)

◆ operator*() [6/9]

template<typename N >

quadratic_variable< N > ndcurves::operator*	(	const linear_variable< N > &	w1,
		const linear_variable< N > &	w2
	)

inline

◆ operator*() [7/9]

template<typename N , bool S>

linear_variable< N, S > ndcurves::operator*	(	const linear_variable< N, S > &	w,
		const double	k
	)

◆ operator*() [8/9]

template<typename T , typename N , bool S, typename P , typename TP >

polynomial< T, N, S, P, TP > ndcurves::operator*	(	const polynomial< T, N, S, P, TP > &	p1,
		const double	k
	)

◆ operator*() [9/9]

template<typename N >

quadratic_variable< N > ndcurves::operator*	(	const quadratic_variable< N > &	w,
		const double	k
	)

◆ operator+() [1/8]

template<typename T , typename N , bool S, typename P >

bezier_curve< T, N, S, P > ndcurves::operator+	(	const bezier_curve< T, N, S, P > &	p1,
		const bezier_curve< T, N, S, P > &	p2
	)

◆ operator+() [2/8]

template<typename T , typename N , bool S, typename P >

bezier_curve< T, N, S, P > ndcurves::operator+	(	const bezier_curve< T, N, S, P > &	p1,
		const typename bezier_curve< T, N, S, P >::point_t &	point
	)

◆ operator+() [3/8]

template<typename N , bool S>

linear_variable< N, S > ndcurves::operator+	(	const linear_variable< N, S > &	w1,
		const linear_variable< N, S > &	w2
	)

inline

◆ operator+() [4/8]

template<typename T , typename N , bool S, typename P , typename TP >

polynomial< T, N, S, P, TP > ndcurves::operator+	(	const polynomial< T, N, S, P, TP > &	p1,
		const polynomial< T, N, S, P, TP > &	p2
	)

◆ operator+() [5/8]

template<typename T , typename N , bool S, typename P , typename TP >

polynomial< T, N, S, P, TP > ndcurves::operator+	(	const polynomial< T, N, S, P, TP > &	p1,
		const typename polynomial< T, N, S, P, TP >::point_t &	point
	)

◆ operator+() [6/8]

template<typename N >

quadratic_variable< N > ndcurves::operator+	(	const quadratic_variable< N > &	w1,
		const quadratic_variable< N > &	w2
	)

inline

◆ operator+() [7/8]

template<typename T , typename N , bool S, typename P >

bezier_curve< T, N, S, P > ndcurves::operator+	(	const typename bezier_curve< T, N, S, P >::point_t &	point,
		const bezier_curve< T, N, S, P > &	p1
	)

◆ operator+() [8/8]

template<typename T , typename N , bool S, typename P , typename TP >

polynomial< T, N, S, P, TP > ndcurves::operator+	(	const typename polynomial< T, N, S, P, TP >::point_t &	point,
		const polynomial< T, N, S, P, TP > &	p1
	)

◆ operator-() [1/11]

template<typename T , typename N , bool S, typename P >

bezier_curve< T, N, S, P > ndcurves::operator- ( const bezier_curve< T, N, S, P > & p1 )

◆ operator-() [2/11]

template<typename T , typename N , bool S, typename P >

bezier_curve< T, N, S, P > ndcurves::operator-	(	const bezier_curve< T, N, S, P > &	p1,
		const bezier_curve< T, N, S, P > &	p2
	)

◆ operator-() [3/11]

template<typename T , typename N , bool S, typename P >

bezier_curve< T, N, S, P > ndcurves::operator-	(	const bezier_curve< T, N, S, P > &	p1,
		const typename bezier_curve< T, N, S, P >::point_t &	point
	)

◆ operator-() [4/11]

template<typename N , bool S>

linear_variable< N, S > ndcurves::operator- ( const linear_variable< N, S > & w1 )

◆ operator-() [5/11]

template<typename N , bool S>

linear_variable< N, S > ndcurves::operator-	(	const linear_variable< N, S > &	w1,
		const linear_variable< N, S > &	w2
	)

◆ operator-() [6/11]

template<typename T , typename N , bool S, typename P , typename TP >

polynomial< T, N, S, P, TP > ndcurves::operator- ( const polynomial< T, N, S, P, TP > & p1 )

◆ operator-() [7/11]

template<typename T , typename N , bool S, typename P , typename TP >

polynomial< T, N, S, P, TP > ndcurves::operator-	(	const polynomial< T, N, S, P, TP > &	p1,
		const polynomial< T, N, S, P, TP > &	p2
	)

◆ operator-() [8/11]

template<typename T , typename N , bool S, typename P , typename TP >

polynomial< T, N, S, P, TP > ndcurves::operator-	(	const polynomial< T, N, S, P, TP > &	p1,
		const typename polynomial< T, N, S, P, TP >::point_t &	point
	)

◆ operator-() [9/11]

template<typename N >

quadratic_variable< N > ndcurves::operator-	(	const quadratic_variable< N > &	w1,
		const quadratic_variable< N > &	w2
	)

◆ operator-() [10/11]

template<typename T , typename N , bool S, typename P >

bezier_curve< T, N, S, P > ndcurves::operator-	(	const typename bezier_curve< T, N, S, P >::point_t &	point,
		const bezier_curve< T, N, S, P > &	p1
	)

◆ operator-() [11/11]

template<typename T , typename N , bool S, typename P , typename TP >

polynomial< T, N, S, P, TP > ndcurves::operator-	(	const typename polynomial< T, N, S, P, TP >::point_t &	point,
		const polynomial< T, N, S, P, TP > &	p1
	)

◆ operator/() [1/4]

template<typename T , typename N , bool S, typename P >

bezier_curve< T, N, S, P > ndcurves::operator/	(	const bezier_curve< T, N, S, P > &	p1,
		const double	k
	)

◆ operator/() [2/4]

template<typename N , bool S>

linear_variable< N, S > ndcurves::operator/	(	const linear_variable< N, S > &	w,
		const double	k
	)

◆ operator/() [3/4]

template<typename T , typename N , bool S, typename P , typename TP >

polynomial< T, N, S, P, TP > ndcurves::operator/	(	const polynomial< T, N, S, P, TP > &	p1,
		const double	k
	)

◆ operator/() [4/4]

template<typename N >

quadratic_variable< N > ndcurves::operator/	(	const quadratic_variable< N > &	w,
		const double	k
	)

◆ operator<<()

template<typename N , bool S>

std::ostream & ndcurves::operator<<	(	std::ostream &	os,
		const linear_variable< N, S > &	l
	)

◆ polynomial_from_curve()

template<typename Polynomial >

Polynomial ndcurves::polynomial_from_curve ( const typename Polynomial::curve_abc_t & curve )

Converts a cubic hermite spline or a bezier curve to a polynomial.

Parameters

curve : the bezier curve/cubic hermite spline defined between [Tmin,Tmax] to convert.

Returns: the equivalent polynomial.

◆ PseudoInverse()

template<typename _Matrix_Type_ >

void ndcurves::PseudoInverse ( _Matrix_Type_ & pinvmat )

An inverse kinematics architecture enforcing an arbitrary number of strict priority levels (Reference : Boulic et Al. 2003)

◆ skew()

template<typename Matrix3 , typename Point >

Matrix3 ndcurves::skew ( const Point & x )

◆ to_diagonal()

template<typename N >

Eigen::Matrix< N, Eigen::Dynamic, Eigen::Dynamic > ndcurves::to_diagonal ( const Eigen::Ref< const Eigen::Matrix< N, Eigen::Dynamic, 1 > > vec )

Transforms a vector into a diagonal matrix.

◆ vectorFromEigenArray()

template<typename PointList , typename T_Point >

T_Point ndcurves::vectorFromEigenArray ( const PointList & array )

◆ vectorFromEigenVector()

template<typename PointList , typename T_Point >

T_Point ndcurves::vectorFromEigenVector ( const PointList & vector )

◆ vectorToEigenArray()

template<typename T_point , typename PointList >

PointList ndcurves::vectorToEigenArray ( const T_point & vect )

Namespaces

Classes

Typedefs

Functions

Detailed Description

Typedef Documentation

◆ bernstein_t

◆ bezier3_t

◆ bezier_linear_variable_t

◆ bezier_t

◆ coeff_t

◆ constant3_t

◆ constant_t

◆ cubic_hermite_spline3_t

◆ cubic_hermite_spline_t

◆ curve3_ptr_t

◆ curve_3_t

◆ curve_abc_t

◆ curve_constraints3_t

◆ curve_constraints_t

◆ curve_ptr_t

◆ curve_rotation_ptr_t

◆ curve_rotation_t

◆ curve_SE3_ptr_t

◆ curve_SE3_t

◆ curve_translation_ptr_t

◆ curve_translation_t

◆ exact_cubic3_t

◆ exact_cubic_t

◆ linear_variable_t

◆ matrix3_t

◆ matrix3_t_cst_ref

◆ matrix4_t

◆ pair_pointX_tangent_t

◆ piecewise3_t

◆ piecewise_SE3_t

◆ piecewise_t

◆ point1_t

◆ point3_t

◆ point6_t

◆ point_list3_t

◆ point_list6_t

◆ point_listX_t

◆ pointX_list_t

◆ pointX_t

◆ polynomial1_t

◆ polynomial3_t

◆ polynomial_t

◆ quaternion_t

◆ real

◆ ret_pointX_t

◆ SE3Curve_t

◆ sinusoidal_t

◆ SO3Linear_t

◆ SO3Smooth_t

◆ t_pair_pointX_tangent_t

◆ t_point1_t

◆ t_point3_t

◆ t_pointX_t

◆ t_time_t

◆ t_waypoint_t

◆ time_waypoints_t

◆ transform_t

◆ waypoint_t

Function Documentation

◆ bezier_from_curve()

◆ cross() [1/4]

◆ cross() [2/4]

◆ cross() [3/4]

◆ cross() [4/4]

◆ evaluateLinear()

◆ hermite_from_curve()

◆ isApprox()

◆ operator*() [1/9]

◆ operator*() [2/9]

◆ operator*() [3/9]

◆ operator*() [4/9]

◆ operator*() [5/9]

◆ operator*() [6/9]

◆ operator*() [7/9]