PatternGeneratorJRL::Bsplines Class Reference

Bspline class. More...

#include <Mathematics/Bsplines.hh>

Inheritance diagram for PatternGeneratorJRL::Bsplines:

Collaboration diagram for PatternGeneratorJRL::Bsplines:

Public Member Functions
	Bsplines (long int degree)
	~Bsplines ()
void	GenerateDegree ()
Bsplines	DerivativeBsplines ()
int	ComputeBasisFunctions (double t)
int	ComputeBasisFunctionsRecursively (double t, std::deque< double > &knot, unsigned int degree)
double	Nij_t (int i, int j, double t, std::deque< double > &knot)
double	ComputeBsplines (double t)
void	SetDegree (long int degree)
void	SetControlPoints (std::vector< double > &control_points)
void	SetKnotVector (std::deque< double > &knot_vector)
long int	GetDegree () const
std::vector< double >	GetControlPoints () const
std::deque< double >	GetKnotVector () const
void	PrintKnotVector () const
void	PrintControlPoints () const
void	PrintDegree () const

Protected Attributes
long int	m_degree
std::vector< double >	m_control_points
std::vector< double >	m_derivative_control_points
std::vector< double >	m_sec_derivative_control_points
std::vector< std::vector< double > >	m_basis_functions
std::vector< double >	m_basis_functions_derivative
std::vector< double >	m_basis_functions_sec_derivative
std::deque< double >	m_knot

Detailed Description

Bspline class.

Constructor & Destructor Documentation

Bsplines::Bsplines

(

long int

degree

)

Constructor

Bsplines::~Bsplines

(

)

Destructor

Member Function Documentation

int Bsplines::ComputeBasisFunctions

(

double

t

)

Compute Basic Function and its first and second derivatives

References i, j, and n.

Referenced by PatternGeneratorJRL::BSplinesFoot::Compute(), PatternGeneratorJRL::BSplinesFoot::ComputeControlPointFrom2DataPoint(), PatternGeneratorJRL::BSplinesFoot::ComputeControlPointFrom3DataPoint(), and PatternGeneratorJRL::BSplinesFoot::ComputeControlPointFrom4DataPoint().

int Bsplines::ComputeBasisFunctionsRecursively	(	double	t,
		std::deque< double > &	knot,
		unsigned int	degree
	)

References i.

double Bsplines::ComputeBsplines

(

double

t

)

Compute Bsplines

References i.

Bsplines Bsplines::DerivativeBsplines

(

)

Create a Knot Vector from m_degree and m_control_points with an algo "method"

Create a derivative Bsplines

References i, SetControlPoints(), and SetKnotVector().

void Bsplines::GenerateDegree

(

)

Caculate Degree of Bsplines from m_control_points and m_knot

std::vector< double > Bsplines::GetControlPoints

(

)

const

Get Control Points

long int Bsplines::GetDegree

(

)

const

Get Degree

std::deque< double > Bsplines::GetKnotVector

(

)

const

Get Knot Vector

double Bsplines::Nij_t	(	int	i,
		int	j,
		double	t,
		std::deque< double > &	knot
	)

References i.

void Bsplines::PrintControlPoints

(

)

const

References i.

void Bsplines::PrintDegree

(

)

const

void Bsplines::PrintKnotVector

(

)

const

References i.

void Bsplines::SetControlPoints

(

std::vector< double > &

control_points

)

Set Control Points

Referenced by DerivativeBsplines(), and PatternGeneratorJRL::BSplinesFoot::SetParametersWithInitFinalPose().

void Bsplines::SetDegree

(

long int

degree

)

Set Degree

void Bsplines::SetKnotVector

(

std::deque< double > &

knot_vector

)

Set Knot Vector

Referenced by DerivativeBsplines(), PatternGeneratorJRL::BSplinesFoot::SetParameters(), and PatternGeneratorJRL::BSplinesFoot::SetParametersWithInitFinalPose().

Member Data Documentation

std::vector< std::vector<double> > PatternGeneratorJRL::Bsplines::m_basis_functions

protected

Referenced by PatternGeneratorJRL::BSplinesFoot::Compute(), PatternGeneratorJRL::BSplinesFoot::ComputeControlPointFrom3DataPoint(), and PatternGeneratorJRL::BSplinesFoot::ComputeControlPointFrom4DataPoint().

std::vector<double> PatternGeneratorJRL::Bsplines::m_basis_functions_derivative

protected

Referenced by PatternGeneratorJRL::BSplinesFoot::Compute(), PatternGeneratorJRL::BSplinesFoot::ComputeControlPointFrom2DataPoint(), PatternGeneratorJRL::BSplinesFoot::ComputeControlPointFrom3DataPoint(), and PatternGeneratorJRL::BSplinesFoot::ComputeControlPointFrom4DataPoint().

std::vector<double> PatternGeneratorJRL::Bsplines::m_basis_functions_sec_derivative

protected

Referenced by PatternGeneratorJRL::BSplinesFoot::Compute(), PatternGeneratorJRL::BSplinesFoot::ComputeControlPointFrom2DataPoint(), PatternGeneratorJRL::BSplinesFoot::ComputeControlPointFrom3DataPoint(), and PatternGeneratorJRL::BSplinesFoot::ComputeControlPointFrom4DataPoint().

std::vector<double> PatternGeneratorJRL::Bsplines::m_control_points

protected

Referenced by PatternGeneratorJRL::BSplinesFoot::Compute(), PatternGeneratorJRL::BSplinesFoot::ComputeControlPointFrom2DataPoint(), PatternGeneratorJRL::BSplinesFoot::ComputeControlPointFrom3DataPoint(), PatternGeneratorJRL::BSplinesFoot::ComputeControlPointFrom4DataPoint(), and PatternGeneratorJRL::BSplinesFoot::SetParameters().

long int PatternGeneratorJRL::Bsplines::m_degree

protected

Referenced by PatternGeneratorJRL::BSplinesFoot::Compute(), PatternGeneratorJRL::BSplinesFoot::ComputeControlPointFrom3DataPoint(), PatternGeneratorJRL::BSplinesFoot::ComputeControlPointFrom4DataPoint(), PatternGeneratorJRL::BSplinesFoot::SetParameters(), and PatternGeneratorJRL::BSplinesFoot::SetParametersWithInitFinalPose().

std::vector<double> PatternGeneratorJRL::Bsplines::m_derivative_control_points

protected

std::deque<double> PatternGeneratorJRL::Bsplines::m_knot

protected

std::vector<double> PatternGeneratorJRL::Bsplines::m_sec_derivative_control_points

protected