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

#include <ndcurves/constant_curve.h>

Inheritance diagram for ndcurves::constant_curve< Time, Numeric, Safe, Point, Point_derivate >:

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Collaboration diagram for ndcurves::constant_curve< Time, Numeric, Safe, Point, Point_derivate >:

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Public Types
typedef Point	point_t

typedef Point_derivate	point_derivate_t

typedef Time	time_t

typedef Numeric	num_t

typedef constant_curve< Time, Numeric, Safe, Point, Point_derivate >	constant_curve_t

typedef constant_curve< Time, Numeric, Safe, Point_derivate >	curve_derivate_t

typedef curve_abc< Time, Numeric, Safe, point_t, Point_derivate >	curve_abc_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
	constant_curve ()
	Empty constructor. Curve obtained this way can not perform other class functions.

	constant_curve (const Point &value, const time_t T_min=0., const time_t T_max=std::numeric_limits< time_t >::max())
	Constructor..

	constant_curve (const constant_curve_t &other)
	Copy constructor.

virtual	~constant_curve ()
	Destructor.

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

curve_derivate_t	compute_derivate () const
	Compute the derived curve at order N. Computes the derivative order N, \(\frac{d^Nx(t)}{dt^N}\) of bezier curve of parametric equation x(t).

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

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

virtual bool	isApprox (const constant_curve_t &other, const Numeric prec=Eigen::NumTraits< Numeric >::dummy_precision()) const
	isApprox check if other and *this are approximately equals given a precision threshold 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

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

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

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

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

virtual num_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.

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.

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
Point	value_

time_t	T_min_

time_t	T_max_

std::size_t	dim_

Friends
class	boost::serialization::access

Detailed Description

template<typename Time = double, typename Numeric = Time, bool Safe = false, typename Point = Eigen::Matrix<Numeric, Eigen::Dynamic, 1>, typename Point_derivate = Point>
class ndcurves::constant_curve< Time, Numeric, Safe, Point, Point_derivate >

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

Member Typedef Documentation

◆ constant_curve_t

template<typename Time = double, typename Numeric = Time, bool Safe = false, typename Point = Eigen::Matrix<Numeric, Eigen::Dynamic, 1>, typename Point_derivate = Point>

typedef constant_curve<Time, Numeric, Safe, Point, Point_derivate> ndcurves::constant_curve< Time, Numeric, Safe, Point, Point_derivate >::constant_curve_t

◆ curve_abc_t

template<typename Time = double, typename Numeric = Time, bool Safe = false, typename Point = Eigen::Matrix<Numeric, Eigen::Dynamic, 1>, typename Point_derivate = Point>

typedef curve_abc<Time, Numeric, Safe, point_t, Point_derivate> ndcurves::constant_curve< Time, Numeric, Safe, Point, Point_derivate >::curve_abc_t

◆ curve_derivate_t

template<typename Time = double, typename Numeric = Time, bool Safe = false, typename Point = Eigen::Matrix<Numeric, Eigen::Dynamic, 1>, typename Point_derivate = Point>

typedef constant_curve<Time, Numeric, Safe, Point_derivate> ndcurves::constant_curve< Time, Numeric, Safe, Point, Point_derivate >::curve_derivate_t

◆ num_t

template<typename Time = double, typename Numeric = Time, bool Safe = false, typename Point = Eigen::Matrix<Numeric, Eigen::Dynamic, 1>, typename Point_derivate = Point>

typedef Numeric ndcurves::constant_curve< Time, Numeric, Safe, Point, Point_derivate >::num_t

◆ point_derivate_t

template<typename Time = double, typename Numeric = Time, bool Safe = false, typename Point = Eigen::Matrix<Numeric, Eigen::Dynamic, 1>, typename Point_derivate = Point>

typedef Point_derivate ndcurves::constant_curve< Time, Numeric, Safe, Point, Point_derivate >::point_derivate_t

◆ point_t

template<typename Time = double, typename Numeric = Time, bool Safe = false, typename Point = Eigen::Matrix<Numeric, Eigen::Dynamic, 1>, typename Point_derivate = Point>

typedef Point ndcurves::constant_curve< Time, Numeric, Safe, Point, Point_derivate >::point_t

◆ time_t

template<typename Time = double, typename Numeric = Time, bool Safe = false, typename Point = Eigen::Matrix<Numeric, Eigen::Dynamic, 1>, typename Point_derivate = Point>

typedef Time ndcurves::constant_curve< Time, Numeric, Safe, Point, Point_derivate >::time_t

Constructor & Destructor Documentation

◆ constant_curve() [1/3]

template<typename Time = double, typename Numeric = Time, bool Safe = false, typename Point = Eigen::Matrix<Numeric, Eigen::Dynamic, 1>, typename Point_derivate = Point>

ndcurves::constant_curve< Time, Numeric, Safe, Point, Point_derivate >::constant_curve ( )

inline

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

◆ constant_curve() [2/3]

template<typename Time = double, typename Numeric = Time, bool Safe = false, typename Point = Eigen::Matrix<Numeric, Eigen::Dynamic, 1>, typename Point_derivate = Point>

ndcurves::constant_curve< Time, Numeric, Safe, Point, Point_derivate >::constant_curve	(	const Point &	value,
		const time_t	T_min = `0.`,
		const time_t	T_max = `std::numeric_limits<time_t>::max()`
	)

inline

Constructor..

Parameters

value	: The constant value
T_min	: lower bound of the time interval
T_max	: upper bound of the time interval

◆ constant_curve() [3/3]

template<typename Time = double, typename Numeric = Time, bool Safe = false, typename Point = Eigen::Matrix<Numeric, Eigen::Dynamic, 1>, typename Point_derivate = Point>

ndcurves::constant_curve< Time, Numeric, Safe, Point, Point_derivate >::constant_curve ( const constant_curve_t & other )

inline

Copy constructor.

Parameters

other

◆ ~constant_curve()

template<typename Time = double, typename Numeric = Time, bool Safe = false, typename Point = Eigen::Matrix<Numeric, Eigen::Dynamic, 1>, typename Point_derivate = Point>

virtual ndcurves::constant_curve< Time, Numeric, Safe, Point, Point_derivate >::~constant_curve ( )

inlinevirtual

Destructor.

Member Function Documentation

◆ compute_derivate()

template<typename Time = double, typename Numeric = Time, bool Safe = false, typename Point = Eigen::Matrix<Numeric, Eigen::Dynamic, 1>, typename Point_derivate = Point>

curve_derivate_t ndcurves::constant_curve< Time, Numeric, Safe, Point, Point_derivate >::compute_derivate ( ) const

inline

Compute the derived curve at order N. Computes the derivative order N, \(\frac{d^Nx(t)}{dt^N}\) of bezier curve of parametric equation x(t).

Parameters

order : order of derivative.

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

◆ compute_derivate_ptr()

template<typename Time = double, typename Numeric = Time, bool Safe = false, typename Point = Eigen::Matrix<Numeric, Eigen::Dynamic, 1>, typename Point_derivate = Point>

virtual curve_derivate_t * ndcurves::constant_curve< Time, Numeric, Safe, Point, Point_derivate >::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 >.

◆ degree()

template<typename Time = double, typename Numeric = Time, bool Safe = false, typename Point = Eigen::Matrix<Numeric, Eigen::Dynamic, 1>, typename Point_derivate = Point>

virtual std::size_t ndcurves::constant_curve< Time, Numeric, Safe, Point, Point_derivate >::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, typename Point = Eigen::Matrix<Numeric, Eigen::Dynamic, 1>, typename Point_derivate = Point>

virtual point_derivate_t ndcurves::constant_curve< Time, Numeric, Safe, Point, Point_derivate >::derivate	(	const time_t	t,
		const std::size_t
	)		const

inlinevirtual

Evaluate the derivative of order N of curve at time t.

Parameters

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

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

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

◆ dim()

template<typename Time = double, typename Numeric = Time, bool Safe = false, typename Point = Eigen::Matrix<Numeric, Eigen::Dynamic, 1>, typename Point_derivate = Point>

virtual std::size_t ndcurves::constant_curve< Time, Numeric, Safe, Point, Point_derivate >::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, typename Point = Eigen::Matrix<Numeric, Eigen::Dynamic, 1>, typename Point_derivate = Point>

virtual bool ndcurves::constant_curve< Time, Numeric, Safe, Point, Point_derivate >::isApprox	(	const constant_curve_t &	other,
		const Numeric	prec = `Eigen::NumTraits<Numeric>::dummy_precision()`
	)		const

inlinevirtual

isApprox check if other and *this are approximately equals given a precision threshold 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

◆ isApprox() [2/2]

template<typename Time = double, typename Numeric = Time, bool Safe = false, typename Point = Eigen::Matrix<Numeric, Eigen::Dynamic, 1>, typename Point_derivate = Point>

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

inlinevirtual

◆ max()

template<typename Time = double, typename Numeric = Time, bool Safe = false, typename Point = Eigen::Matrix<Numeric, Eigen::Dynamic, 1>, typename Point_derivate = Point>

virtual num_t ndcurves::constant_curve< Time, Numeric, Safe, Point, Point_derivate >::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, typename Point = Eigen::Matrix<Numeric, Eigen::Dynamic, 1>, typename Point_derivate = Point>

virtual num_t ndcurves::constant_curve< Time, Numeric, Safe, Point, Point_derivate >::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, typename Point = Eigen::Matrix<Numeric, Eigen::Dynamic, 1>, typename Point_derivate = Point>

virtual bool ndcurves::constant_curve< Time, Numeric, Safe, Point, Point_derivate >::operator!= ( const constant_curve_t & other ) const

inlinevirtual

◆ operator()()

template<typename Time = double, typename Numeric = Time, bool Safe = false, typename Point = Eigen::Matrix<Numeric, Eigen::Dynamic, 1>, typename Point_derivate = Point>

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

inlinevirtual

Evaluation of the cubic spline at time t.

Parameters

t	: time when to evaluate the spine

Returns: \(x(t)\), point corresponding on curve at time t.

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

◆ operator==()

template<typename Time = double, typename Numeric = Time, bool Safe = false, typename Point = Eigen::Matrix<Numeric, Eigen::Dynamic, 1>, typename Point_derivate = Point>

virtual bool ndcurves::constant_curve< Time, Numeric, Safe, Point, Point_derivate >::operator== ( const constant_curve_t & other ) const

inlinevirtual

◆ serialize()

template<typename Time = double, typename Numeric = Time, bool Safe = false, typename Point = Eigen::Matrix<Numeric, Eigen::Dynamic, 1>, typename Point_derivate = Point>

template<class Archive >

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

inline

Friends And Related Symbol Documentation

◆ boost::serialization::access

template<typename Time = double, typename Numeric = Time, bool Safe = false, typename Point = Eigen::Matrix<Numeric, Eigen::Dynamic, 1>, typename Point_derivate = Point>

friend class boost::serialization::access

friend

Member Data Documentation

◆ dim_

template<typename Time = double, typename Numeric = Time, bool Safe = false, typename Point = Eigen::Matrix<Numeric, Eigen::Dynamic, 1>, typename Point_derivate = Point>

std::size_t ndcurves::constant_curve< Time, Numeric, Safe, Point, Point_derivate >::dim_

◆ T_max_

template<typename Time = double, typename Numeric = Time, bool Safe = false, typename Point = Eigen::Matrix<Numeric, Eigen::Dynamic, 1>, typename Point_derivate = Point>

time_t ndcurves::constant_curve< Time, Numeric, Safe, Point, Point_derivate >::T_max_

◆ T_min_

template<typename Time = double, typename Numeric = Time, bool Safe = false, typename Point = Eigen::Matrix<Numeric, Eigen::Dynamic, 1>, typename Point_derivate = Point>

time_t ndcurves::constant_curve< Time, Numeric, Safe, Point, Point_derivate >::T_min_

◆ value_

template<typename Time = double, typename Numeric = Time, bool Safe = false, typename Point = Eigen::Matrix<Numeric, Eigen::Dynamic, 1>, typename Point_derivate = Point>

Point ndcurves::constant_curve< Time, Numeric, Safe, Point, Point_derivate >::value_

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

include/ndcurves/constant_curve.h

Public Types

Public Member Functions

Public Attributes

Friends

Detailed Description

Member Typedef Documentation

◆ constant_curve_t

◆ curve_abc_t

◆ curve_derivate_t

◆ num_t

◆ point_derivate_t

◆ point_t

◆ time_t

Constructor & Destructor Documentation

◆ constant_curve() [1/3]

◆ constant_curve() [2/3]

◆ constant_curve() [3/3]

◆ ~constant_curve()

Member Function Documentation

◆ compute_derivate()

◆ compute_derivate_ptr()

◆ degree()

◆ derivate()

◆ dim()

◆ isApprox() [1/2]

◆ isApprox() [2/2]

◆ max()

◆ min()

◆ operator!=()

◆ operator()()

◆ operator==()

◆ serialize()

Friends And Related Symbol Documentation

◆ boost::serialization::access

Member Data Documentation

◆ dim_

◆ T_max_

◆ T_min_

◆ value_