parametriccurves Namespace Reference

Namespaces
	spatial
	utils

Classes
struct	AbstractCurve
	Represents a curve of dimension Dim is Safe is false, no verification is made on the evaluation of the curve. More...
struct	Constant
struct	curve_constraints
class	InfiniteConstAcc
	Creates InfiniteConstAcc curve s = s_0 + u_0*t+0.5*a_0*t^2. More...
class	InfiniteSinusoid
	Creates InfiniteSinusoid curve The sinusoid is actually a cosine so that it starts with zero velocity. Returns x = x_init + A*cos(2*pi*f*t) where f is give by 1/(2*traj_time) More...
class	LinearChirp
	Creates LinearChirp curve Linear chirp trajectory generator. A linear chirp is a sinusoid whose frequency is a linear function of time. In particular the frequency starts from a value f0 and it increases linearly up to a value f1. Then it goes back to f0 and the trajectory is ended. More...
class	MinimumJerk
	Creates MinimumJerk curve. More...
class	Polynomial
	Represents a Polynomialf arbitrary order defined on the interval [tBegin, tEnd]. It follows the equation x(t) = a + b(t - t_min_) + ... + d(t - t_min_)^N, where N is the order. More...
class	Spline
	Represents a set of cubic splines defining a continuous function crossing each of the waypoint given in its initialization. More...
class	TextFile
	Loads curve from file. More...

Functions
template<typename _Matrix_Type_ >
void	PseudoInverse (_Matrix_Type_ &pinvmat)
template<typename Point , typename T_Point >
T_Point	make_cubic_vector (Point const &a, Point const &b, Point const &c, Point const &d)
	Creates coefficient vector of a cubic spline defined on the interval [tBegin, tEnd]. It follows the equation x(t) = a + b(t - t_min_) + c(t - t_min_)^2 + d(t - t_min_)^3. More...
template<typename Numeric , Eigen::Index Dim, typename Point , typename T_Point >
Polynomial< Numeric, Dim, Point >	create_cubic (Point const &a, Point const &b, Point const &c, Point const &d, const Numeric min, const Numeric max)
template<typename Point , typename T_Point >
T_Point	make_quintic_vector (Point const &a, Point const &b, Point const &c, Point const &d, Point const &e, Point const &f)
	Creates coefficient vector of a quintic spline defined on the interval [tBegin, tEnd]. It follows the equation x(t) = a + b(t - t_min_) + c(t - t_min_)^2 + d(t - t_min_)^3 + e(t - t_min_)^4 + f(t - t_min_)^5. More...
template<typename Numeric , Eigen::Index Dim, typename Point , typename T_Point >
Polynomial< Numeric, Dim, Point >	create_quintic (Point const &a, Point const &b, Point const &c, Point const &d, Point const &e, Point const &f, const Numeric min, const Numeric max)

Function Documentation

create_cubic()

template<typename Numeric , Eigen::Index Dim, typename Point , typename T_Point >

Polynomial<Numeric, Dim, Point> parametriccurves::create_cubic	(	Point const &	a,
		Point const &	b,
		Point const &	c,
		Point const &	d,
		const Numeric	min,
		const Numeric	max
	)

create_quintic()

template<typename Numeric , Eigen::Index Dim, typename Point , typename T_Point >

Polynomial<Numeric, Dim, Point> parametriccurves::create_quintic	(	Point const &	a,
		Point const &	b,
		Point const &	c,
		Point const &	d,
		Point const &	e,
		Point const &	f,
		const Numeric	min,
		const Numeric	max
	)

make_cubic_vector()

template<typename Point , typename T_Point >

T_Point parametriccurves::make_cubic_vector	(	Point const &	a,
		Point const &	b,
		Point const &	c,
		Point const &	d
	)

Creates coefficient vector of a cubic spline defined on the interval [tBegin, tEnd]. It follows the equation x(t) = a + b(t - t_min_) + c(t - t_min_)^2 + d(t - t_min_)^3.

make_quintic_vector()

template<typename Point , typename T_Point >

T_Point parametriccurves::make_quintic_vector	(	Point const &	a,
		Point const &	b,
		Point const &	c,
		Point const &	d,
		Point const &	e,
		Point const &	f
	)

Creates coefficient vector of a quintic spline defined on the interval [tBegin, tEnd]. It follows the equation x(t) = a + b(t - t_min_) + c(t - t_min_)^2 + d(t - t_min_)^3 + e(t - t_min_)^4 + f(t - t_min_)^5.

PseudoInverse()

template<typename _Matrix_Type_ >

void parametriccurves::PseudoInverse

(

_Matrix_Type_ &

pinvmat

)