#include <Eigen/Geometry>
#include "spline/curve_abc.h"
#include "spline/helpers/effector_spline.h"

Include dependency graph for effector_spline_rotation.h:

Classes
class	spline::helpers::rotation_spline

class	spline::helpers::effector_spline_rotation
	Represents a trajectory for and end effector uses the method effector_spline to create a spline trajectory. Additionally, handles the rotation of the effector as follows: does not rotate during the take off and landing phase, then uses a SLERP algorithm to interpolate the rotation in the quaternion space. More...

Typedefs
typedef Eigen::Matrix< Numeric, 4, 1 >	spline::helpers::quat_t

typedef Eigen::Ref< quat_t >	spline::helpers::quat_ref_t

typedef const Eigen::Ref< const quat_t >	spline::helpers::quat_ref_const_t

typedef Eigen::Matrix< Numeric, 7, 1 >	spline::helpers::config_t

typedef curve_abc< Time, Numeric, 4, false, quat_t >	spline::helpers::curve_abc_quat_t

typedef std::pair< Numeric, quat_t >	spline::helpers::waypoint_quat_t

typedef std::vector< waypoint_quat_t >	spline::helpers::t_waypoint_quat_t

typedef Eigen::Matrix< Numeric, 1, 1 >	spline::helpers::point_one_dim_t

typedef spline_deriv_constraint< Numeric, Numeric, 1, false, point_one_dim_t >	spline::helpers::spline_deriv_constraint_one_dim

typedef std::pair< Numeric, point_one_dim_t >	spline::helpers::waypoint_one_dim_t

typedef std::vector< waypoint_one_dim_t >	spline::helpers::t_waypoint_one_dim_t

typedef exact_cubic< Time, Numeric, 4, false, quat_t, std::vector< quat_t, Eigen::aligned_allocator< quat_t > >, rotation_spline >	spline::helpers::exact_cubic_quat_t

Classes

Namespaces