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

#include <ndcurves/curve_abc.h>

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

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Collaboration diagram for ndcurves::curve_abc< 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 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
	curve_abc ()
	Constructor.

virtual	~curve_abc ()
	Destructor.

virtual point_t	operator() (const time_t t) const =0
	Evaluation of the cubic spline at time t.

virtual curve_derivate_t *	compute_derivate_ptr (const std::size_t order) const =0
	Compute the derived curve at order N.

virtual point_derivate_t	derivate (const time_t t, const std::size_t order) const =0
	Evaluate the derivative of order N of curve at time t.

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.

virtual std::size_t	dim () const =0
	Get dimension of curve.

virtual time_t	min () const =0
	Get the minimum time for which the curve is defined.

virtual time_t	max () const =0
	Get the maximum time for which the curve is defined.

virtual std::size_t	degree () const =0
	Get the degree of the curve.

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.

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>
struct ndcurves::curve_abc< Time, Numeric, Safe, Point, Point_derivate >

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

Member Typedef Documentation

◆ 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 curve_abc<Time, Numeric, Safe, point_derivate_t> ndcurves::curve_abc< Time, Numeric, Safe, Point, Point_derivate >::curve_derivate_t

◆ curve_ptr_t

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

typedef std::shared_ptr<curve_t> ndcurves::curve_abc< Time, Numeric, Safe, Point, Point_derivate >::curve_ptr_t

◆ 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 curve_abc<Time, Numeric, Safe, point_t, point_derivate_t> ndcurves::curve_abc< Time, Numeric, Safe, Point, Point_derivate >::curve_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::curve_abc< 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::curve_abc< 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::curve_abc< 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::curve_abc< Time, Numeric, Safe, Point, Point_derivate >::time_t

Constructor & Destructor Documentation

◆ curve_abc()

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

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

inline

Constructor.

◆ ~curve_abc()

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

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

inlinevirtual

Destructor.

Member Function Documentation

◆ 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::curve_abc< Time, Numeric, Safe, Point, Point_derivate >::compute_derivate_ptr ( const std::size_t order ) const

pure virtual

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.

◆ 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::curve_abc< Time, Numeric, Safe, Point, Point_derivate >::degree ( ) const

pure virtual

Get the degree of the curve.

Returns: \(degree\), the degree of the curve.

Implemented in ndcurves::constant_curve< Time, Numeric, Safe, Point, Point_derivate >, ndcurves::cubic_hermite_spline< Time, Numeric, Safe, Point >, ndcurves::helpers::rotation_spline, ndcurves::piecewise_curve< Time, Numeric, Safe, Point, Point_derivate, CurveType >, ndcurves::piecewise_curve< double, double, false, Eigen::Matrix< double, Eigen::Dynamic, 1 > >, ndcurves::piecewise_curve< Numeric, Numeric, Safe, point_one_dim_t >, ndcurves::polynomial< Time, Numeric, Safe, Point, T_Point >, ndcurves::SE3Curve< Time, Numeric, Safe >, ndcurves::sinusoidal< Time, Numeric, Safe, Point >, and ndcurves::SO3Linear< Time, Numeric, Safe >.

◆ 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::curve_abc< Time, Numeric, Safe, Point, Point_derivate >::derivate	(	const time_t	t,
		const std::size_t	order
	)		const

pure virtual

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.

Implemented in ndcurves::piecewise_curve< Time, Numeric, Safe, Point, Point_derivate, CurveType >, ndcurves::bezier_curve< Time, Numeric, Safe, Point >, ndcurves::cubic_hermite_spline< Time, Numeric, Safe, Point >, ndcurves::polynomial< Time, Numeric, Safe, Point, T_Point >, ndcurves::SE3Curve< Time, Numeric, Safe >, ndcurves::sinusoidal< Time, Numeric, Safe, Point >, ndcurves::SO3Linear< Time, Numeric, Safe >, and ndcurves::constant_curve< 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::curve_abc< Time, Numeric, Safe, Point, Point_derivate >::dim ( ) const

pure virtual

Get dimension of curve.

Returns: dimension of curve.

Implemented in ndcurves::constant_curve< Time, Numeric, Safe, Point, Point_derivate >, ndcurves::cubic_hermite_spline< Time, Numeric, Safe, Point >, ndcurves::helpers::rotation_spline, ndcurves::piecewise_curve< Time, Numeric, Safe, Point, Point_derivate, CurveType >, ndcurves::piecewise_curve< double, double, false, Eigen::Matrix< double, Eigen::Dynamic, 1 > >, ndcurves::piecewise_curve< Numeric, Numeric, Safe, point_one_dim_t >, ndcurves::polynomial< Time, Numeric, Safe, Point, T_Point >, ndcurves::SE3Curve< Time, Numeric, Safe >, ndcurves::sinusoidal< Time, Numeric, Safe, Point >, and ndcurves::SO3Linear< Time, Numeric, Safe >.

◆ isApprox()

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::curve_abc< Time, Numeric, Safe, Point, Point_derivate >::isApprox	(	const curve_t *	other,
		const Numeric	prec = `Eigen::NumTraits< Numeric >::dummy_precision()`
	)		const

pure virtual

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

Implemented in ndcurves::piecewise_curve< Time, Numeric, Safe, Point, Point_derivate, CurveType >, ndcurves::SE3Curve< Time, Numeric, Safe >, and ndcurves::SO3Linear< Time, Numeric, Safe >.

◆ isEquivalent()

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

bool ndcurves::curve_abc< Time, Numeric, Safe, Point, Point_derivate >::isEquivalent	(	const curve_t *	other,
		const Numeric	prec = `Eigen::NumTraits<Numeric>::dummy_precision()`,
		const size_t	order = `5`
	)		const

inline

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.

Parameters

other	the other curve to check
order	the order up to which the derivatives of the curves are checked for equality
prec	the precision threshold, default Eigen::NumTraits<Numeric>::dummy_precision()

Returns: true if the two curves are approximately equal

◆ max()

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

virtual time_t ndcurves::curve_abc< Time, Numeric, Safe, Point, Point_derivate >::max ( ) const

pure virtual

Get the maximum time for which the curve is defined.

Returns: \(t_{max}\), upper bound of time range.

Implemented in ndcurves::constant_curve< Time, Numeric, Safe, Point, Point_derivate >, ndcurves::cubic_hermite_spline< Time, Numeric, Safe, Point >, ndcurves::helpers::rotation_spline, ndcurves::piecewise_curve< Time, Numeric, Safe, Point, Point_derivate, CurveType >, ndcurves::piecewise_curve< double, double, false, Eigen::Matrix< double, Eigen::Dynamic, 1 > >, ndcurves::piecewise_curve< Numeric, Numeric, Safe, point_one_dim_t >, ndcurves::polynomial< Time, Numeric, Safe, Point, T_Point >, ndcurves::SE3Curve< Time, Numeric, Safe >, ndcurves::sinusoidal< Time, Numeric, Safe, Point >, and ndcurves::SO3Linear< Time, Numeric, Safe >.

◆ min()

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

virtual time_t ndcurves::curve_abc< Time, Numeric, Safe, Point, Point_derivate >::min ( ) const

pure virtual

Get the minimum time for which the curve is defined.

Returns: \(t_{min}\), lower bound of time range.

Implemented in ndcurves::constant_curve< Time, Numeric, Safe, Point, Point_derivate >, ndcurves::cubic_hermite_spline< Time, Numeric, Safe, Point >, ndcurves::helpers::rotation_spline, ndcurves::piecewise_curve< Time, Numeric, Safe, Point, Point_derivate, CurveType >, ndcurves::piecewise_curve< double, double, false, Eigen::Matrix< double, Eigen::Dynamic, 1 > >, ndcurves::piecewise_curve< Numeric, Numeric, Safe, point_one_dim_t >, ndcurves::polynomial< Time, Numeric, Safe, Point, T_Point >, ndcurves::SE3Curve< Time, Numeric, Safe >, ndcurves::sinusoidal< Time, Numeric, Safe, Point >, and ndcurves::SO3Linear< Time, Numeric, Safe >.

◆ 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::curve_abc< Time, Numeric, Safe, Point, Point_derivate >::operator() ( const time_t t ) const

pure virtual

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.

Implemented in ndcurves::piecewise_curve< Time, Numeric, Safe, Point, Point_derivate, CurveType >, ndcurves::bezier_curve< Time, Numeric, Safe, Point >, ndcurves::constant_curve< Time, Numeric, Safe, Point, Point_derivate >, ndcurves::cubic_hermite_spline< Time, Numeric, Safe, Point >, ndcurves::polynomial< Time, Numeric, Safe, Point, T_Point >, ndcurves::SE3Curve< Time, Numeric, Safe >, ndcurves::sinusoidal< Time, Numeric, Safe, Point >, and ndcurves::SO3Linear< Time, Numeric, Safe >.

◆ 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::curve_abc< Time, Numeric, Safe, Point, Point_derivate >::serialize	(	Archive &	ar,
		const unsigned int	version
	)

inline

◆ timeRange()

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

std::pair< time_t, time_t > ndcurves::curve_abc< Time, Numeric, Safe, Point, Point_derivate >::timeRange ( )

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

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

include/ndcurves/curve_abc.h

Public Types

Public Member Functions

Friends

Detailed Description

Member Typedef Documentation

◆ curve_derivate_t

◆ curve_ptr_t

◆ curve_t

◆ num_t

◆ point_derivate_t

◆ point_t

◆ time_t

Constructor & Destructor Documentation

◆ curve_abc()

◆ ~curve_abc()

Member Function Documentation

◆ compute_derivate_ptr()

◆ degree()

◆ derivate()

◆ dim()

◆ isApprox()

◆ isEquivalent()

◆ max()

◆ min()

◆ operator()()

◆ serialize()

◆ timeRange()

Friends And Related Symbol Documentation

◆ boost::serialization::access