#include <ndcurves/piecewise_curve.h>

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

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

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Public Types
typedef Point	point_t

typedef Point_derivate	point_derivate_t

typedef std::vector< point_t, Eigen::aligned_allocator< point_t > >	t_point_t

typedef std::vector< point_derivate_t, Eigen::aligned_allocator< point_derivate_t > >	t_point_derivate_t

typedef Time	time_t

typedef Numeric	num_t

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

typedef CurveType	curve_t

typedef std::shared_ptr< curve_t >	curve_ptr_t

typedef std::vector< curve_ptr_t >	t_curve_ptr_t

typedef std::vector< Time >	t_time_t

typedef piecewise_curve< Time, Numeric, Safe, Point, Point_derivate, CurveType >	piecewise_curve_t

typedef piecewise_curve< Time, Numeric, Safe, Point_derivate, Point_derivate, typename CurveType::curve_derivate_t >	piecewise_curve_derivate_t

typedef std::shared_ptr< typename piecewise_curve_derivate_t::curve_t >	curve_derivate_ptr_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
	piecewise_curve ()
	Empty constructor. Add at least one curve to call other class functions.

	piecewise_curve (const curve_ptr_t &cf)
	Constructor. Initialize a piecewise curve by giving the first curve.

	piecewise_curve (const t_curve_ptr_t &curves_list)

	piecewise_curve (const piecewise_curve &other)

virtual	~piecewise_curve ()

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

bool	isApprox (const piecewise_curve_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 base_curve_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 piecewise_curve_t &other) const

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

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

piecewise_curve_derivate_t *	compute_derivate_ptr (const std::size_t order) const
	compute_derivate return a piecewise_curve which is the derivative of this at given order

template<typename Curve >
void	add_curve (const Curve &curve)

void	add_curve_ptr (const curve_ptr_t &cf)
	Add a new curve to piecewise curve, which should be defined in \([T_{min},T_{max}]\) where \(T_{min}\) is equal to \(T_{max}\) of the actual piecewise curve. The curve added should be of type Curve as defined in the template.

bool	is_continuous (const std::size_t order)
	Check if the curve is continuous of order given.

std::size_t	num_curves () const
	Get number of curves in piecewise curve.

curve_ptr_t	curve_at_time (const time_t t) const
	Get curve corresponding to time t in piecewise curve. Example : A piecewise curve PC made of two curves : c1 for t in [0,1] and c2 for t in ]1,2]. PC.curve_at_time(0.5) will return c1.

curve_ptr_t	curve_at_index (const std::size_t idx) const
	Get curve at specified index in piecewise curve.

template<typename Bezier >
piecewise_curve_t	convert_piecewise_curve_to_bezier ()
	Convert all curves in piecewise curve into bezier curves.

template<typename Hermite >
piecewise_curve_t	convert_piecewise_curve_to_cubic_hermite ()
	Convert all curves in piecewise curve into cubic hermite curves. Curves need to be of degree inferior or equal to three.

template<typename Polynomial >
piecewise_curve_t	convert_piecewise_curve_to_polynomial ()
	Convert all curves in piecewise curve into polynomial curves.

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

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

virtual Time	max () const
	Get the maximum time for which the curve is defined.

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

std::size_t	getNumberCurves ()

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.

Static Public Member Functions
template<typename Polynomial >
static piecewise_curve_t	convert_discrete_points_to_polynomial (t_point_t points, t_time_t time_points)
	Convert discrete points into piecewise polynomial curve with C0 continuity.

template<typename Polynomial >
static piecewise_curve_t	convert_discrete_points_to_polynomial (t_point_t points, t_point_derivate_t points_derivative, t_time_t time_points)
	Convert discrete points into piecewise polynomial curve with C1 continuity.

template<typename Polynomial >
static piecewise_curve_t	convert_discrete_points_to_polynomial (t_point_t points, t_point_derivate_t points_derivative, t_point_derivate_t points_second_derivative, t_time_t time_points)
	Convert discrete points into piecewise polynomial curve with C2 continuity.

template<typename Polynomial >
static piecewise_curve_t	load_piecewise_from_text_file (const std::string &filename, const time_t dt, const size_t dim)
	load_piecewise_from_text_file build a piecewise polynomial from a list of discrete points read from a file. The file should contains one points per line, optionally with it's derivative and second derivatives. Each lines should then contains dim, 2dim or 3dim values

Public Attributes
std::size_t	dim_

t_curve_ptr_t	curves_

t_time_t	time_curves_

std::size_t	size_

Time	T_min_

Time	T_max_

Friends
class	boost::serialization::access

Member Typedef Documentation

◆ base_curve_t

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

typedef curve_abc<Time, Numeric, Safe, point_t, point_derivate_t> ndcurves::piecewise_curve< Time, Numeric, Safe, Point, Point_derivate, CurveType >::base_curve_t

◆ curve_derivate_ptr_t

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

typedef std::shared_ptr<typename piecewise_curve_derivate_t::curve_t> ndcurves::piecewise_curve< Time, Numeric, Safe, Point, Point_derivate, CurveType >::curve_derivate_ptr_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, typename CurveType = curve_abc<Time, Numeric, Safe, Point, Point_derivate>>

typedef std::shared_ptr<curve_t> ndcurves::piecewise_curve< Time, Numeric, Safe, Point, Point_derivate, CurveType >::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, typename CurveType = curve_abc<Time, Numeric, Safe, Point, Point_derivate>>

typedef CurveType ndcurves::piecewise_curve< Time, Numeric, Safe, Point, Point_derivate, CurveType >::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, typename CurveType = curve_abc<Time, Numeric, Safe, Point, Point_derivate>>

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

◆ piecewise_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, typename CurveType = curve_abc<Time, Numeric, Safe, Point, Point_derivate>>

typedef piecewise_curve<Time, Numeric, Safe, Point_derivate, Point_derivate, typename CurveType::curve_derivate_t> ndcurves::piecewise_curve< Time, Numeric, Safe, Point, Point_derivate, CurveType >::piecewise_curve_derivate_t

◆ piecewise_curve_t

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

typedef piecewise_curve<Time, Numeric, Safe, Point, Point_derivate, CurveType> ndcurves::piecewise_curve< Time, Numeric, Safe, Point, Point_derivate, CurveType >::piecewise_curve_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, typename CurveType = curve_abc<Time, Numeric, Safe, Point, Point_derivate>>

typedef Point_derivate ndcurves::piecewise_curve< Time, Numeric, Safe, Point, Point_derivate, CurveType >::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, typename CurveType = curve_abc<Time, Numeric, Safe, Point, Point_derivate>>

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

◆ 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, typename CurveType = curve_abc<Time, Numeric, Safe, Point, Point_derivate>>

typedef std::vector<curve_ptr_t> ndcurves::piecewise_curve< Time, Numeric, Safe, Point, Point_derivate, CurveType >::t_curve_ptr_t

◆ 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, typename CurveType = curve_abc<Time, Numeric, Safe, Point, Point_derivate>>

typedef std::vector<point_derivate_t, Eigen::aligned_allocator<point_derivate_t> > ndcurves::piecewise_curve< Time, Numeric, Safe, Point, Point_derivate, CurveType >::t_point_derivate_t

◆ 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, typename CurveType = curve_abc<Time, Numeric, Safe, Point, Point_derivate>>

typedef std::vector<point_t, Eigen::aligned_allocator<point_t> > ndcurves::piecewise_curve< Time, Numeric, Safe, Point, Point_derivate, CurveType >::t_point_t

◆ 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, typename CurveType = curve_abc<Time, Numeric, Safe, Point, Point_derivate>>

typedef std::vector<Time> ndcurves::piecewise_curve< Time, Numeric, Safe, Point, Point_derivate, CurveType >::t_time_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, typename CurveType = curve_abc<Time, Numeric, Safe, Point, Point_derivate>>

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

Constructor & Destructor Documentation

◆ piecewise_curve() [1/4]

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

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

inline

Empty constructor. Add at least one curve to call other class functions.

◆ piecewise_curve() [2/4]

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

ndcurves::piecewise_curve< Time, Numeric, Safe, Point, Point_derivate, CurveType >::piecewise_curve ( const curve_ptr_t & cf )

inline

Constructor. Initialize a piecewise curve by giving the first curve.

Parameters

cf	: a curve.

◆ piecewise_curve() [3/4]

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

ndcurves::piecewise_curve< Time, Numeric, Safe, Point, Point_derivate, CurveType >::piecewise_curve ( const t_curve_ptr_t & curves_list )

inline

◆ piecewise_curve() [4/4]

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

ndcurves::piecewise_curve< Time, Numeric, Safe, Point, Point_derivate, CurveType >::piecewise_curve ( const piecewise_curve< Time, Numeric, Safe, Point, Point_derivate, CurveType > & other )

inline

◆ ~piecewise_curve()

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

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

inlinevirtual

Member Function Documentation

◆ add_curve()

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

template<typename Curve >

void ndcurves::piecewise_curve< Time, Numeric, Safe, Point, Point_derivate, CurveType >::add_curve ( const Curve & curve )

inline

◆ add_curve_ptr()

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

void ndcurves::piecewise_curve< Time, Numeric, Safe, Point, Point_derivate, CurveType >::add_curve_ptr ( const curve_ptr_t & cf )

inline

Add a new curve to piecewise curve, which should be defined in \([T_{min},T_{max}]\) where \(T_{min}\) is equal to \(T_{max}\) of the actual piecewise curve. The curve added should be of type Curve as defined in the template.

Parameters

cf	: curve to add.

◆ 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, typename CurveType = curve_abc<Time, Numeric, Safe, Point, Point_derivate>>

piecewise_curve_derivate_t * ndcurves::piecewise_curve< Time, Numeric, Safe, Point, Point_derivate, CurveType >::compute_derivate_ptr ( const std::size_t order ) const

inlinevirtual

compute_derivate return a piecewise_curve which is the derivative of this at given order

Parameters

order order of derivative

Returns

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

◆ convert_discrete_points_to_polynomial() [1/3]

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

template<typename Polynomial >

static piecewise_curve_t ndcurves::piecewise_curve< Time, Numeric, Safe, Point, Point_derivate, CurveType >::convert_discrete_points_to_polynomial	(	t_point_t	points,
		t_point_derivate_t	points_derivative,
		t_point_derivate_t	points_second_derivative,
		t_time_t	time_points
	)

inlinestatic

Convert discrete points into piecewise polynomial curve with C2 continuity.

Parameters

points	: discrete points to convert.
points_derivative	: derivative of order 1 corresponding to each point in piecewise curve.
points_second_derivative	: derivative of order 2 corresponding to each point in piecewise curve.
time_points	: time corresponding to each point in piecewise curve.

Returns: piecewise polynomial curve of C2 continuity.

◆ convert_discrete_points_to_polynomial() [2/3]

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

template<typename Polynomial >

static piecewise_curve_t ndcurves::piecewise_curve< Time, Numeric, Safe, Point, Point_derivate, CurveType >::convert_discrete_points_to_polynomial	(	t_point_t	points,
		t_point_derivate_t	points_derivative,
		t_time_t	time_points
	)

inlinestatic

Convert discrete points into piecewise polynomial curve with C1 continuity.

Parameters

points	: discrete points to convert.
points_derivative	: derivative of order 1 corresponding to each point in piecewise curve.
time_points	: time corresponding to each point in piecewise curve.

Returns: piecewise polynomial curve of C1 continuity.

◆ convert_discrete_points_to_polynomial() [3/3]

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

template<typename Polynomial >

static piecewise_curve_t ndcurves::piecewise_curve< Time, Numeric, Safe, Point, Point_derivate, CurveType >::convert_discrete_points_to_polynomial	(	t_point_t	points,
		t_time_t	time_points
	)

inlinestatic

Convert discrete points into piecewise polynomial curve with C0 continuity.

Parameters

points	: discrete points to convert.
time_points	: time corresponding to each point in piecewise curve.

Returns: piecewise polynomial curve of C0 continuity.

◆ convert_piecewise_curve_to_bezier()

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

template<typename Bezier >

piecewise_curve_t ndcurves::piecewise_curve< Time, Numeric, Safe, Point, Point_derivate, CurveType >::convert_piecewise_curve_to_bezier ( )

inline

Convert all curves in piecewise curve into bezier curves.

Returns: piecewise bezier curve.

◆ convert_piecewise_curve_to_cubic_hermite()

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

template<typename Hermite >

piecewise_curve_t ndcurves::piecewise_curve< Time, Numeric, Safe, Point, Point_derivate, CurveType >::convert_piecewise_curve_to_cubic_hermite ( )

inline

Convert all curves in piecewise curve into cubic hermite curves. Curves need to be of degree inferior or equal to three.

Returns: piecewise cubic hermite curve.

◆ convert_piecewise_curve_to_polynomial()

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

template<typename Polynomial >

piecewise_curve_t ndcurves::piecewise_curve< Time, Numeric, Safe, Point, Point_derivate, CurveType >::convert_piecewise_curve_to_polynomial ( )

inline

Convert all curves in piecewise curve into polynomial curves.

Returns: piecewise polynomial curve.

◆ curve_at_index()

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

curve_ptr_t ndcurves::piecewise_curve< Time, Numeric, Safe, Point, Point_derivate, CurveType >::curve_at_index ( const std::size_t idx ) const

inline

Get curve at specified index in piecewise curve.

Parameters

idx	: Index of curve to return, from 0 to num_curves-1.

Returns: curve corresonding to index in piecewise curve.

◆ curve_at_time()

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

curve_ptr_t ndcurves::piecewise_curve< Time, Numeric, Safe, Point, Point_derivate, CurveType >::curve_at_time ( const time_t t ) const

inline

Get curve corresponding to time t in piecewise curve. Example : A piecewise curve PC made of two curves : c1 for t in [0,1] and c2 for t in ]1,2]. PC.curve_at_time(0.5) will return c1.

Parameters

t	: time to select curve.

Returns: Curve corresponding to time t in piecewise curve.

◆ degree()

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

virtual std::size_t ndcurves::piecewise_curve< Time, Numeric, Safe, Point, Point_derivate, CurveType >::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, typename CurveType = curve_abc<Time, Numeric, Safe, Point, Point_derivate>>

virtual point_derivate_t ndcurves::piecewise_curve< Time, Numeric, Safe, Point, Point_derivate, CurveType >::derivate	(	const Time	t,
		const std::size_t	order
	)		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: \(\frac{d^Np(t)}{dt^N}\) point corresponding on derivative spline 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, typename CurveType = curve_abc<Time, Numeric, Safe, Point, Point_derivate>>

virtual std::size_t ndcurves::piecewise_curve< Time, Numeric, Safe, Point, Point_derivate, CurveType >::dim ( ) const

inlinevirtual

Get dimension of curve.

Returns: dimension of curve.

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

◆ getNumberCurves()

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

std::size_t ndcurves::piecewise_curve< Time, Numeric, Safe, Point, Point_derivate, CurveType >::getNumberCurves ( )

inline

◆ is_continuous()

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

bool ndcurves::piecewise_curve< Time, Numeric, Safe, Point, Point_derivate, CurveType >::is_continuous ( const std::size_t order )

inline

Check if the curve is continuous of order given.

Parameters

order : order of continuity we want to check.

Returns: True if the curve is continuous of order given.

◆ 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, typename CurveType = curve_abc<Time, Numeric, Safe, Point, Point_derivate>>

virtual bool ndcurves::piecewise_curve< Time, Numeric, Safe, Point, Point_derivate, CurveType >::isApprox	(	const base_curve_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, typename Point = Eigen::Matrix<Numeric, Eigen::Dynamic, 1>, typename Point_derivate = Point, typename CurveType = curve_abc<Time, Numeric, Safe, Point, Point_derivate>>

bool ndcurves::piecewise_curve< Time, Numeric, Safe, Point, Point_derivate, CurveType >::isApprox	(	const piecewise_curve_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

◆ load_piecewise_from_text_file()

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

template<typename Polynomial >

static piecewise_curve_t ndcurves::piecewise_curve< Time, Numeric, Safe, Point, Point_derivate, CurveType >::load_piecewise_from_text_file	(	const std::string &	filename,
		const time_t	dt,
		const size_t	dim
	)

inlinestatic

load_piecewise_from_text_file build a piecewise polynomial from a list of discrete points read from a file. The file should contains one points per line, optionally with it's derivative and second derivatives. Each lines should then contains dim, 2*dim or 3*dim values

Parameters

filename	the (absolute) name of the file to load
dt	the time step between each points in the file
dim	the dimension of the curve

Returns: a piecewise curves containing polynomial connectiong all the points in the file

◆ max()

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

virtual Time ndcurves::piecewise_curve< Time, Numeric, Safe, Point, Point_derivate, CurveType >::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, typename CurveType = curve_abc<Time, Numeric, Safe, Point, Point_derivate>>

virtual Time ndcurves::piecewise_curve< Time, Numeric, Safe, Point, Point_derivate, CurveType >::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 >.

◆ num_curves()

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

std::size_t ndcurves::piecewise_curve< Time, Numeric, Safe, Point, Point_derivate, CurveType >::num_curves ( ) const

inline

Get number of curves in piecewise curve.

Returns: Number of curves in piecewise curve.

◆ operator!=()

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

virtual bool ndcurves::piecewise_curve< Time, Numeric, Safe, Point, Point_derivate, CurveType >::operator!= ( const piecewise_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, typename CurveType = curve_abc<Time, Numeric, Safe, Point, Point_derivate>>

virtual point_t ndcurves::piecewise_curve< Time, Numeric, Safe, Point, Point_derivate, CurveType >::operator() ( const Time 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, typename CurveType = curve_abc<Time, Numeric, Safe, Point, Point_derivate>>

virtual bool ndcurves::piecewise_curve< Time, Numeric, Safe, Point, Point_derivate, CurveType >::operator== ( const piecewise_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, typename CurveType = curve_abc<Time, Numeric, Safe, Point, Point_derivate>>

template<class Archive >

void ndcurves::piecewise_curve< Time, Numeric, Safe, Point, Point_derivate, CurveType >::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, typename CurveType = curve_abc<Time, Numeric, Safe, Point, Point_derivate>>

friend class boost::serialization::access

friend

Member Data Documentation

◆ curves_

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

t_curve_ptr_t ndcurves::piecewise_curve< Time, Numeric, Safe, Point, Point_derivate, CurveType >::curves_

◆ dim_

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

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

◆ size_

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

std::size_t ndcurves::piecewise_curve< Time, Numeric, Safe, Point, Point_derivate, CurveType >::size_

◆ T_max_

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

Time ndcurves::piecewise_curve< Time, Numeric, Safe, Point, Point_derivate, CurveType >::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, typename CurveType = curve_abc<Time, Numeric, Safe, Point, Point_derivate>>

Time ndcurves::piecewise_curve< Time, Numeric, Safe, Point, Point_derivate, CurveType >::T_min_

◆ time_curves_

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

t_time_t ndcurves::piecewise_curve< Time, Numeric, Safe, Point, Point_derivate, CurveType >::time_curves_

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

include/ndcurves/fwd.h
include/ndcurves/piecewise_curve.h

Public Types

Public Member Functions

Static Public Member Functions

Public Attributes

Friends

Member Typedef Documentation

◆ base_curve_t

◆ curve_derivate_ptr_t

◆ curve_ptr_t

◆ curve_t

◆ num_t

◆ piecewise_curve_derivate_t

◆ piecewise_curve_t

◆ point_derivate_t

◆ point_t

◆ t_curve_ptr_t

◆ t_point_derivate_t

◆ t_point_t

◆ t_time_t

◆ time_t

Constructor & Destructor Documentation

◆ piecewise_curve() [1/4]

◆ piecewise_curve() [2/4]

◆ piecewise_curve() [3/4]

◆ piecewise_curve() [4/4]

◆ ~piecewise_curve()

Member Function Documentation

◆ add_curve()

◆ add_curve_ptr()

◆ compute_derivate_ptr()

◆ convert_discrete_points_to_polynomial() [1/3]

◆ convert_discrete_points_to_polynomial() [2/3]

◆ convert_discrete_points_to_polynomial() [3/3]

◆ convert_piecewise_curve_to_bezier()

◆ convert_piecewise_curve_to_cubic_hermite()

◆ convert_piecewise_curve_to_polynomial()

◆ curve_at_index()

◆ curve_at_time()

◆ degree()

◆ derivate()

◆ dim()

◆ getNumberCurves()

◆ is_continuous()

◆ isApprox() [1/2]

◆ isApprox() [2/2]

◆ load_piecewise_from_text_file()

◆ max()

◆ min()

◆ num_curves()

◆ operator!=()

◆ operator()()

◆ operator==()

◆ serialize()

Friends And Related Symbol Documentation

◆ boost::serialization::access

Member Data Documentation

◆ curves_

◆ dim_

◆ size_

◆ T_max_

◆ T_min_

◆ time_curves_