effector_spline.h File Reference

#include "spline/spline_deriv_constraint.h"

Include dependency graph for effector_spline.h:

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Namespaces
	spline
	spline::helpers

Typedefs
typedef double	spline::helpers::Numeric
typedef double	spline::helpers::Time
typedef Eigen::Matrix< Numeric, 3, 1 >	spline::helpers::Point
typedef std::vector< Point, Eigen::aligned_allocator< Point > >	spline::helpers::T_Point
typedef std::pair< double, Point >	spline::helpers::Waypoint
typedef std::vector< Waypoint >	spline::helpers::T_Waypoint
typedef spline_deriv_constraint< Time, Numeric, 3, true, Point, T_Point >	spline::helpers::spline_deriv_constraint_t
typedef spline_deriv_constraint_t::spline_constraints	spline::helpers::spline_constraints_t
typedef spline_deriv_constraint_t::exact_cubic_t	spline::helpers::exact_cubic_t
typedef spline_deriv_constraint_t::t_spline_t	spline::helpers::t_spline_t
typedef spline_deriv_constraint_t::spline_t	spline::helpers::spline_t

Functions
Waypoint	spline::helpers::compute_offset (const Waypoint &source, const Point &normal, const Numeric offset, const Time time_offset)
spline_t	spline::helpers::make_end_spline (const Point &normal, const Point &from, const Numeric offset, const Time init_time, const Time time_offset)
spline_constraints_t	spline::helpers::compute_required_offset_velocity_acceleration (const spline_t &end_spline, const Time time_offset)
template<typename In >
exact_cubic_t *	spline::helpers::effector_spline (In wayPointsBegin, In wayPointsEnd, const Point &lift_normal=Eigen::Vector3d::UnitZ(), const Point &land_normal=Eigen::Vector3d::UnitZ(), const Numeric lift_offset=0.02, const Numeric land_offset=0.02, const Time lift_offset_duration=0.02, const Time land_offset_duration=0.02)
	Helper method to create a spline typically used to guide the 3d trajectory of a robot end effector. Given a set of waypoints, and the normal vector of the start and ending positions, automatically create the spline such that: More...