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...

#include <ndcurves/se3_curve.h>

Inheritance diagram for ndcurves::SE3Curve< Time, Numeric, Safe >:

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Collaboration diagram for ndcurves::SE3Curve< Time, Numeric, Safe >:

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Public Types
typedef Numeric	Scalar

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

typedef transform_t	point_t

typedef Eigen::Matrix< Scalar, 6, 1 >	point_derivate_t

typedef Eigen::Quaternion< Scalar >	Quaternion

typedef Time	time_t

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

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

typedef curve_abc< Time, Numeric, Safe, pointX_t >	curve_X_t

typedef curve_abc< Time, Numeric, Safe, point3_t, point3_t >	curve_translation_t

typedef curve_abc< Time, Numeric, Safe, matrix3_t, point3_t >	curve_rotation_t

typedef std::shared_ptr< curve_X_t >	curve_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 SO3Linear< Time, Numeric, Safe >	SO3Linear_t

typedef polynomial< Time, Numeric, Safe, pointX_t >	polynomial_t

typedef SE3Curve< Time, Numeric, Safe >	SE3Curve_t

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

Public Member Functions
	SE3Curve ()
	Empty constructor. Curve obtained this way can not perform other class functions.

virtual	~SE3Curve ()
	Destructor.

	SE3Curve (const transform_t &init_transform, const transform_t &end_transform, const time_t &t_min, const time_t &t_max)
	Constructor from init/end transform use polynomial of degree 1 for position and SO3Linear for rotation.

	SE3Curve (const point3_t &init_pos, const point3_t &end_pos, const Quaternion &init_rot, const Quaternion &end_rot, const time_t &t_min, const time_t &t_max)
	Constructor from init/end pose, with quaternion. use polynomial of degree 1 for position and SO3Linear for rotation.

	SE3Curve (const point3_t &init_pos, const point3_t &end_pos, const matrix3_t &init_rot, const matrix3_t &end_rot, const time_t &t_min, const time_t &t_max)
	Constructor from init/end pose, with rotation matrix. use polynomial of degree 1 for position and SO3Linear for rotation.

	SE3Curve (curve_translation_ptr_t translation_curve, const Quaternion &init_rot, const Quaternion &end_rot)
	Constructor from curve for the translation and init/end rotation, with quaternion. Use SO3Linear for rotation with the same time bounds as the.

	SE3Curve (curve_translation_ptr_t translation_curve, const matrix3_t &init_rot, const matrix3_t &end_rot)
	Constructor from curve for the translation and init/end rotation, with rotation matrix. Use SO3Linear for rotation with the same time bounds as the.

	SE3Curve (curve_translation_ptr_t translation_curve, curve_rotation_ptr_t rotation_curve)
	Constructor from from translation and rotation curves object.

virtual point_t	operator() (const time_t t) const
	Evaluation of the SE3Curve at time t.

bool	isApprox (const SE3Curve_t &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_t *other, const Numeric prec=Eigen::NumTraits< Numeric >::dummy_precision()) const
	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.

virtual bool	operator== (const SE3Curve_t &other) const

virtual bool	operator!= (const SE3Curve_t &other) const

virtual point_derivate_t	derivate (const time_t t, const std::size_t order) const
	Evaluation of the derivative of order N of spline at time t.

curve_derivate_t	compute_derivate (const std::size_t) const

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

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

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

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.

const curve_translation_ptr_t	translation_curve () const
	const accessor to the translation curve

const curve_rotation_ptr_t	rotation_curve () const
	const accessor to the rotation curve

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

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

virtual	~curve_abc ()
	Destructor.

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.

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
std::size_t	dim_

curve_translation_ptr_t	translation_curve_

curve_rotation_ptr_t	rotation_curve_

time_t	T_min_

time_t	T_max_

Friends
class	boost::serialization::access

Detailed Description

template<typename Time = double, typename Numeric = Time, bool Safe = false>
class ndcurves::SE3Curve< Time, Numeric, Safe >

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)

Member Typedef Documentation

◆ curve_abc_t

template<typename Time = double, typename Numeric = Time, bool Safe = false>

typedef curve_abc<Time, Numeric, Safe, point_t, point_derivate_t> ndcurves::SE3Curve< Time, Numeric, Safe >::curve_abc_t

◆ curve_derivate_t

template<typename Time = double, typename Numeric = Time, bool Safe = false>

typedef polynomial<Time, Numeric, Safe, point_derivate_t> ndcurves::SE3Curve< Time, Numeric, Safe >::curve_derivate_t

◆ curve_ptr_t

template<typename Time = double, typename Numeric = Time, bool Safe = false>

typedef std::shared_ptr<curve_X_t> ndcurves::SE3Curve< Time, Numeric, Safe >::curve_ptr_t

◆ curve_rotation_ptr_t

template<typename Time = double, typename Numeric = Time, bool Safe = false>

typedef std::shared_ptr<curve_rotation_t> ndcurves::SE3Curve< Time, Numeric, Safe >::curve_rotation_ptr_t

◆ curve_rotation_t

template<typename Time = double, typename Numeric = Time, bool Safe = false>

typedef curve_abc<Time, Numeric, Safe, matrix3_t, point3_t> ndcurves::SE3Curve< Time, Numeric, Safe >::curve_rotation_t

◆ curve_translation_ptr_t

template<typename Time = double, typename Numeric = Time, bool Safe = false>

typedef std::shared_ptr<curve_translation_t> ndcurves::SE3Curve< Time, Numeric, Safe >::curve_translation_ptr_t

◆ curve_translation_t

template<typename Time = double, typename Numeric = Time, bool Safe = false>

typedef curve_abc<Time, Numeric, Safe, point3_t, point3_t> ndcurves::SE3Curve< Time, Numeric, Safe >::curve_translation_t

◆ curve_X_t

template<typename Time = double, typename Numeric = Time, bool Safe = false>

typedef curve_abc<Time, Numeric, Safe, pointX_t> ndcurves::SE3Curve< Time, Numeric, Safe >::curve_X_t

◆ point_derivate_t

template<typename Time = double, typename Numeric = Time, bool Safe = false>

typedef Eigen::Matrix<Scalar, 6, 1> ndcurves::SE3Curve< Time, Numeric, Safe >::point_derivate_t

◆ point_t

template<typename Time = double, typename Numeric = Time, bool Safe = false>

typedef transform_t ndcurves::SE3Curve< Time, Numeric, Safe >::point_t

◆ polynomial_t

template<typename Time = double, typename Numeric = Time, bool Safe = false>

typedef polynomial<Time, Numeric, Safe, pointX_t> ndcurves::SE3Curve< Time, Numeric, Safe >::polynomial_t

◆ Quaternion

template<typename Time = double, typename Numeric = Time, bool Safe = false>

typedef Eigen::Quaternion<Scalar> ndcurves::SE3Curve< Time, Numeric, Safe >::Quaternion

◆ Scalar

template<typename Time = double, typename Numeric = Time, bool Safe = false>

typedef Numeric ndcurves::SE3Curve< Time, Numeric, Safe >::Scalar

◆ SE3Curve_t

template<typename Time = double, typename Numeric = Time, bool Safe = false>

typedef SE3Curve<Time, Numeric, Safe> ndcurves::SE3Curve< Time, Numeric, Safe >::SE3Curve_t

◆ SO3Linear_t

template<typename Time = double, typename Numeric = Time, bool Safe = false>

typedef SO3Linear<Time, Numeric, Safe> ndcurves::SE3Curve< Time, Numeric, Safe >::SO3Linear_t

◆ time_t

template<typename Time = double, typename Numeric = Time, bool Safe = false>

typedef Time ndcurves::SE3Curve< Time, Numeric, Safe >::time_t

◆ transform_t

template<typename Time = double, typename Numeric = Time, bool Safe = false>

typedef Eigen::Transform<Numeric, 3, Eigen::Affine> ndcurves::SE3Curve< Time, Numeric, Safe >::transform_t

Constructor & Destructor Documentation

◆ SE3Curve() [1/7]

template<typename Time = double, typename Numeric = Time, bool Safe = false>

ndcurves::SE3Curve< Time, Numeric, Safe >::SE3Curve ( )

inline

Empty constructor. Curve obtained this way can not perform other class functions.

◆ ~SE3Curve()

template<typename Time = double, typename Numeric = Time, bool Safe = false>

virtual ndcurves::SE3Curve< Time, Numeric, Safe >::~SE3Curve ( )

inlinevirtual

Destructor.

◆ SE3Curve() [2/7]

template<typename Time = double, typename Numeric = Time, bool Safe = false>

ndcurves::SE3Curve< Time, Numeric, Safe >::SE3Curve	(	const transform_t &	init_transform,
		const transform_t &	end_transform,
		const time_t &	t_min,
		const time_t &	t_max
	)

inline

Constructor from init/end transform use polynomial of degree 1 for position and SO3Linear for rotation.

◆ SE3Curve() [3/7]

template<typename Time = double, typename Numeric = Time, bool Safe = false>

ndcurves::SE3Curve< Time, Numeric, Safe >::SE3Curve	(	const point3_t &	init_pos,
		const point3_t &	end_pos,
		const Quaternion &	init_rot,
		const Quaternion &	end_rot,
		const time_t &	t_min,
		const time_t &	t_max
	)

inline

Constructor from init/end pose, with quaternion. use polynomial of degree 1 for position and SO3Linear for rotation.

◆ SE3Curve() [4/7]

template<typename Time = double, typename Numeric = Time, bool Safe = false>

ndcurves::SE3Curve< Time, Numeric, Safe >::SE3Curve	(	const point3_t &	init_pos,
		const point3_t &	end_pos,
		const matrix3_t &	init_rot,
		const matrix3_t &	end_rot,
		const time_t &	t_min,
		const time_t &	t_max
	)

inline

Constructor from init/end pose, with rotation matrix. use polynomial of degree 1 for position and SO3Linear for rotation.

◆ SE3Curve() [5/7]

template<typename Time = double, typename Numeric = Time, bool Safe = false>

ndcurves::SE3Curve< Time, Numeric, Safe >::SE3Curve	(	curve_translation_ptr_t	translation_curve,
		const Quaternion &	init_rot,
		const Quaternion &	end_rot
	)

inline

Constructor from curve for the translation and init/end rotation, with quaternion. Use SO3Linear for rotation with the same time bounds as the.

◆ SE3Curve() [6/7]

template<typename Time = double, typename Numeric = Time, bool Safe = false>

ndcurves::SE3Curve< Time, Numeric, Safe >::SE3Curve	(	curve_translation_ptr_t	translation_curve,
		const matrix3_t &	init_rot,
		const matrix3_t &	end_rot
	)

inline

Constructor from curve for the translation and init/end rotation, with rotation matrix. Use SO3Linear for rotation with the same time bounds as the.

◆ SE3Curve() [7/7]

template<typename Time = double, typename Numeric = Time, bool Safe = false>

ndcurves::SE3Curve< Time, Numeric, Safe >::SE3Curve	(	curve_translation_ptr_t	translation_curve,
		curve_rotation_ptr_t	rotation_curve
	)

inline

Constructor from from translation and rotation curves object.

Member Function Documentation

◆ compute_derivate()

template<typename Time = double, typename Numeric = Time, bool Safe = false>

curve_derivate_t ndcurves::SE3Curve< Time, Numeric, Safe >::compute_derivate ( const std::size_t ) const

inline

◆ compute_derivate_ptr()

template<typename Time = double, typename Numeric = Time, bool Safe = false>

curve_derivate_t * ndcurves::SE3Curve< Time, Numeric, Safe >::compute_derivate_ptr ( const std::size_t order ) 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 >.

◆ degree()

template<typename Time = double, typename Numeric = Time, bool Safe = false>

virtual std::size_t ndcurves::SE3Curve< Time, Numeric, Safe >::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()

template<typename Time = double, typename Numeric = Time, bool Safe = false>

virtual point_derivate_t ndcurves::SE3Curve< Time, Numeric, Safe >::derivate	(	const time_t	t,
		const std::size_t	order
	)		const

inlinevirtual

Evaluation of the derivative of order N of spline at time t.

Parameters

t	: the time when to evaluate the spline.
order	: order of derivative.

Returns: \(\frac{d^Nx(t)}{dt^N}\) point corresponding on derivative spline at time t.

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

◆ dim()

template<typename Time = double, typename Numeric = Time, bool Safe = false>

virtual std::size_t ndcurves::SE3Curve< Time, Numeric, Safe >::dim ( ) const

inlinevirtual

Get dimension of curve.

Returns: dimension of curve.

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

◆ isApprox() [1/2]

template<typename Time = double, typename Numeric = Time, bool Safe = false>

virtual bool ndcurves::SE3Curve< Time, Numeric, Safe >::isApprox	(	const curve_abc_t *	other,
		const Numeric	prec = `Eigen::NumTraits< Numeric >::dummy_precision()`
	)		const

inlinevirtual

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.

Parameters

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

Returns: true if the two curves are approximately equal

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

◆ isApprox() [2/2]

template<typename Time = double, typename Numeric = Time, bool Safe = false>

bool ndcurves::SE3Curve< Time, Numeric, Safe >::isApprox	(	const SE3Curve_t &	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()

template<typename Time = double, typename Numeric = Time, bool Safe = false>

time_t ndcurves::SE3Curve< Time, Numeric, Safe >::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()

template<typename Time = double, typename Numeric = Time, bool Safe = false>

time_t ndcurves::SE3Curve< Time, Numeric, Safe >::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!=()

template<typename Time = double, typename Numeric = Time, bool Safe = false>

virtual bool ndcurves::SE3Curve< Time, Numeric, Safe >::operator!= ( const SE3Curve_t & other ) const

inlinevirtual

◆ operator()()

template<typename Time = double, typename Numeric = Time, bool Safe = false>

virtual point_t ndcurves::SE3Curve< Time, Numeric, Safe >::operator() ( const time_t t ) const

inlinevirtual

Evaluation of the SE3Curve at time t.

Parameters

t	: time when to evaluate the spline.

Returns: \(x(t)\) point corresponding on spline at time t. (pos_x,pos_y,pos_z,quat_x,quat_y,quat_z,quat_w)

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

◆ operator==()

template<typename Time = double, typename Numeric = Time, bool Safe = false>

virtual bool ndcurves::SE3Curve< Time, Numeric, Safe >::operator== ( const SE3Curve_t & other ) const

inlinevirtual

◆ rotation_curve()

template<typename Time = double, typename Numeric = Time, bool Safe = false>

const curve_rotation_ptr_t ndcurves::SE3Curve< Time, Numeric, Safe >::rotation_curve ( ) const

inline

const accessor to the rotation curve

◆ serialize()

template<typename Time = double, typename Numeric = Time, bool Safe = false>

template<class Archive >

void ndcurves::SE3Curve< Time, Numeric, Safe >::serialize	(	Archive &	ar,
		const unsigned int	version
	)

inline

◆ translation_curve()

template<typename Time = double, typename Numeric = Time, bool Safe = false>

const curve_translation_ptr_t ndcurves::SE3Curve< Time, Numeric, Safe >::translation_curve ( ) const

inline

const accessor to the translation curve

Friends And Related Symbol Documentation

◆ boost::serialization::access

template<typename Time = double, typename Numeric = Time, bool Safe = false>

friend class boost::serialization::access

friend

Member Data Documentation

◆ dim_

template<typename Time = double, typename Numeric = Time, bool Safe = false>

std::size_t ndcurves::SE3Curve< Time, Numeric, Safe >::dim_

◆ rotation_curve_

template<typename Time = double, typename Numeric = Time, bool Safe = false>

curve_rotation_ptr_t ndcurves::SE3Curve< Time, Numeric, Safe >::rotation_curve_

◆ T_max_

template<typename Time = double, typename Numeric = Time, bool Safe = false>

time_t ndcurves::SE3Curve< Time, Numeric, Safe >::T_max_

◆ T_min_

template<typename Time = double, typename Numeric = Time, bool Safe = false>

time_t ndcurves::SE3Curve< Time, Numeric, Safe >::T_min_

◆ translation_curve_

template<typename Time = double, typename Numeric = Time, bool Safe = false>

curve_translation_ptr_t ndcurves::SE3Curve< Time, Numeric, Safe >::translation_curve_

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

include/ndcurves/fwd.h
include/ndcurves/se3_curve.h

Public Types

Public Member Functions

Public Attributes

Friends

Detailed Description

Member Typedef Documentation

◆ curve_abc_t

◆ curve_derivate_t

◆ curve_ptr_t

◆ curve_rotation_ptr_t

◆ curve_rotation_t

◆ curve_translation_ptr_t

◆ curve_translation_t

◆ curve_X_t

◆ point_derivate_t

◆ point_t

◆ polynomial_t

◆ Quaternion

◆ Scalar

◆ SE3Curve_t

◆ SO3Linear_t

◆ time_t

◆ transform_t

Constructor & Destructor Documentation

◆ SE3Curve() [1/7]

◆ ~SE3Curve()

◆ SE3Curve() [2/7]

◆ SE3Curve() [3/7]

◆ SE3Curve() [4/7]

◆ SE3Curve() [5/7]

◆ SE3Curve() [6/7]

◆ SE3Curve() [7/7]

Member Function Documentation

◆ compute_derivate()

◆ compute_derivate_ptr()

◆ degree()

◆ derivate()

◆ dim()

◆ isApprox() [1/2]

◆ isApprox() [2/2]

◆ max()

◆ min()

◆ operator!=()

◆ operator()()

◆ operator==()

◆ rotation_curve()

◆ serialize()

◆ translation_curve()

Friends And Related Symbol Documentation

◆ boost::serialization::access

Member Data Documentation

◆ dim_

◆ rotation_curve_

◆ T_max_

◆ T_min_

◆ translation_curve_