parametriccurves::Spline< Numeric, Dim, Point, SplineBase > Class Template Reference

Represents a set of cubic splines defining a continuous function crossing each of the waypoint given in its initialization. More...

#include <parametric-curves/spline.hpp>

Inheritance diagram for parametriccurves::Spline< Numeric, Dim, Point, SplineBase >:

Collaboration diagram for parametriccurves::Spline< Numeric, Dim, Point, SplineBase >:

Public Types
typedef Point	point_t
typedef std::vector< Point, Eigen::aligned_allocator< Point > >	t_point_t
typedef Eigen::Matrix< Numeric, Eigen::Dynamic, Eigen::Dynamic >	MatrixX
typedef Numeric	time_t
typedef Numeric	num_t
typedef SplineBase	spline_t
typedef std::vector< spline_t, Eigen::aligned_allocator< spline_t > >	t_spline_t
typedef t_spline_t::iterator	it_spline_t
typedef t_spline_t::const_iterator	cit_spline_t
typedef curve_constraints< point_t >	spline_constraints
typedef AbstractCurve< Numeric, Point >	curve_abc_t
Public Types inherited from parametriccurves::AbstractCurve< double, Eigen::Matrix< double, Eigen::Dynamic, 1 > >
typedef Eigen::Matrix< double, Eigen::Dynamic, 1 >	point_t
typedef double	time_t
typedef double	num_t

Public Member Functions
	Spline ()
	Constructor. More...
	Spline (const t_spline_t &subSplines)
	Constructor. More...
	Spline (const Spline &other)
	Copy Constructor. More...
	~Spline ()
	Destructor. More...
template<typename In >
void	createSplineFromWayPoints (In wayPointsBegin, In wayPointsEnd)
template<typename In >
void	createSplineFromWayPointsConstr (In wayPointsBegin, In wayPointsEnd, const spline_constraints &constraints)
virtual const point_t	operator() (const time_t &t) const
virtual const point_t	derivate (const time_t &t, const std::size_t &order) const
virtual const std::size_t &	size () const
const t_spline_t &	getSubsplines () const
virtual bool	setInitialPoint (const point_t &)
virtual bool	setInitialPoint (const num_t &)
bool	loadFromFile (const std::string &filename)
bool	saveToFile (const std::string &filename) const
	Saved a Derived object as a text file. More...
Public Member Functions inherited from parametriccurves::AbstractCurve< double, Eigen::Matrix< double, Eigen::Dynamic, 1 > >
	AbstractCurve (time_t t_min_, time_t t_max_)
	AbstractCurve ()
virtual	~AbstractCurve ()
virtual const point_t	operator() (const time_t &t) const=0
	Evaluation of the cubic spline at time t. More...
virtual const point_t	derivate (const time_t &t, const std::size_t &order) const=0
	Evaluation of the derivative spline at time t. More...
virtual const time_t	tmin () const
virtual const time_t	tmax () const
virtual bool	checkRange (const time_t t) const
virtual bool	setInitialPoint (const point_t &)=0
virtual bool	setInitialPoint (const num_t &)=0
virtual bool	setTimePeriod (const time_t &traj_time_)

Protected Attributes
t_spline_t	subSplines_
Protected Attributes inherited from parametriccurves::AbstractCurve< double, Eigen::Matrix< double, Eigen::Dynamic, 1 > >
time_t	t_min
time_t	t_max

Friends
class	boost::serialization::access

Detailed Description

template<typename Numeric = double, Eigen::Index Dim = Eigen::Dynamic, typename Point = Eigen::Matrix<Numeric, Dim, 1>, typename SplineBase = Polynomial<Numeric, Dim, Point>>
class parametriccurves::Spline< Numeric, Dim, Point, SplineBase >

Represents a set of cubic splines defining a continuous function crossing each of the waypoint given in its initialization.

Member Typedef Documentation

cit_spline_t

template<typename Numeric = double, Eigen::Index Dim = Eigen::Dynamic, typename Point = Eigen::Matrix<Numeric, Dim, 1>, typename SplineBase = Polynomial<Numeric, Dim, Point>>

typedef t_spline_t::const_iterator parametriccurves::Spline< Numeric, Dim, Point, SplineBase >::cit_spline_t

curve_abc_t

template<typename Numeric = double, Eigen::Index Dim = Eigen::Dynamic, typename Point = Eigen::Matrix<Numeric, Dim, 1>, typename SplineBase = Polynomial<Numeric, Dim, Point>>

typedef AbstractCurve<Numeric, Point> parametriccurves::Spline< Numeric, Dim, Point, SplineBase >::curve_abc_t

it_spline_t

template<typename Numeric = double, Eigen::Index Dim = Eigen::Dynamic, typename Point = Eigen::Matrix<Numeric, Dim, 1>, typename SplineBase = Polynomial<Numeric, Dim, Point>>

typedef t_spline_t::iterator parametriccurves::Spline< Numeric, Dim, Point, SplineBase >::it_spline_t

MatrixX

template<typename Numeric = double, Eigen::Index Dim = Eigen::Dynamic, typename Point = Eigen::Matrix<Numeric, Dim, 1>, typename SplineBase = Polynomial<Numeric, Dim, Point>>

typedef Eigen::Matrix<Numeric, Eigen::Dynamic, Eigen::Dynamic> parametriccurves::Spline< Numeric, Dim, Point, SplineBase >::MatrixX

num_t

template<typename Numeric = double, Eigen::Index Dim = Eigen::Dynamic, typename Point = Eigen::Matrix<Numeric, Dim, 1>, typename SplineBase = Polynomial<Numeric, Dim, Point>>

typedef Numeric parametriccurves::Spline< Numeric, Dim, Point, SplineBase >::num_t

point_t

template<typename Numeric = double, Eigen::Index Dim = Eigen::Dynamic, typename Point = Eigen::Matrix<Numeric, Dim, 1>, typename SplineBase = Polynomial<Numeric, Dim, Point>>

typedef Point parametriccurves::Spline< Numeric, Dim, Point, SplineBase >::point_t

spline_constraints

template<typename Numeric = double, Eigen::Index Dim = Eigen::Dynamic, typename Point = Eigen::Matrix<Numeric, Dim, 1>, typename SplineBase = Polynomial<Numeric, Dim, Point>>

typedef curve_constraints<point_t> parametriccurves::Spline< Numeric, Dim, Point, SplineBase >::spline_constraints

spline_t

template<typename Numeric = double, Eigen::Index Dim = Eigen::Dynamic, typename Point = Eigen::Matrix<Numeric, Dim, 1>, typename SplineBase = Polynomial<Numeric, Dim, Point>>

typedef SplineBase parametriccurves::Spline< Numeric, Dim, Point, SplineBase >::spline_t

t_point_t

template<typename Numeric = double, Eigen::Index Dim = Eigen::Dynamic, typename Point = Eigen::Matrix<Numeric, Dim, 1>, typename SplineBase = Polynomial<Numeric, Dim, Point>>

typedef std::vector<Point, Eigen::aligned_allocator<Point> > parametriccurves::Spline< Numeric, Dim, Point, SplineBase >::t_point_t

t_spline_t

template<typename Numeric = double, Eigen::Index Dim = Eigen::Dynamic, typename Point = Eigen::Matrix<Numeric, Dim, 1>, typename SplineBase = Polynomial<Numeric, Dim, Point>>

typedef std::vector<spline_t, Eigen::aligned_allocator<spline_t> > parametriccurves::Spline< Numeric, Dim, Point, SplineBase >::t_spline_t

time_t

template<typename Numeric = double, Eigen::Index Dim = Eigen::Dynamic, typename Point = Eigen::Matrix<Numeric, Dim, 1>, typename SplineBase = Polynomial<Numeric, Dim, Point>>

typedef Numeric parametriccurves::Spline< Numeric, Dim, Point, SplineBase >::time_t

Constructor & Destructor Documentation

Spline() [1/3]

template<typename Numeric = double, Eigen::Index Dim = Eigen::Dynamic, typename Point = Eigen::Matrix<Numeric, Dim, 1>, typename SplineBase = Polynomial<Numeric, Dim, Point>>

parametriccurves::Spline< Numeric, Dim, Point, SplineBase >::Spline ( )

inline

Constructor.

Spline() [2/3]

template<typename Numeric = double, Eigen::Index Dim = Eigen::Dynamic, typename Point = Eigen::Matrix<Numeric, Dim, 1>, typename SplineBase = Polynomial<Numeric, Dim, Point>>

parametriccurves::Spline< Numeric, Dim, Point, SplineBase >::Spline ( const t_spline_t &  subSplines )

inline

Constructor.

Parameters

subSplines

vector of subsplines

Spline() [3/3]

template<typename Numeric = double, Eigen::Index Dim = Eigen::Dynamic, typename Point = Eigen::Matrix<Numeric, Dim, 1>, typename SplineBase = Polynomial<Numeric, Dim, Point>>

parametriccurves::Spline< Numeric, Dim, Point, SplineBase >::Spline ( const Spline< Numeric, Dim, Point, SplineBase > &  other )

inline

Copy Constructor.

~Spline()

template<typename Numeric = double, Eigen::Index Dim = Eigen::Dynamic, typename Point = Eigen::Matrix<Numeric, Dim, 1>, typename SplineBase = Polynomial<Numeric, Dim, Point>>

parametriccurves::Spline< Numeric, Dim, Point, SplineBase >::~Spline ( )

inline

Destructor.

Member Function Documentation

createSplineFromWayPoints()

template<typename Numeric = double, Eigen::Index Dim = Eigen::Dynamic, typename Point = Eigen::Matrix<Numeric, Dim, 1>, typename SplineBase = Polynomial<Numeric, Dim, Point>>

template<typename In >

void parametriccurves::Spline< Numeric, Dim, Point, SplineBase >::createSplineFromWayPoints ( In  wayPointsBegin, In  wayPointsEnd  )

inline

createSplineFromWayPointsConstr()

template<typename Numeric = double, Eigen::Index Dim = Eigen::Dynamic, typename Point = Eigen::Matrix<Numeric, Dim, 1>, typename SplineBase = Polynomial<Numeric, Dim, Point>>

template<typename In >

void parametriccurves::Spline< Numeric, Dim, Point, SplineBase >::createSplineFromWayPointsConstr ( In  wayPointsBegin, In  wayPointsEnd, const spline_constraints &  constraints  )

inline

derivate()

template<typename Numeric = double, Eigen::Index Dim = Eigen::Dynamic, typename Point = Eigen::Matrix<Numeric, Dim, 1>, typename SplineBase = Polynomial<Numeric, Dim, Point>>

virtual const point_t parametriccurves::Spline< Numeric, Dim, Point, SplineBase >::derivate ( const time_t &  t, const std::size_t &  order  ) const

inlinevirtual

getSubsplines()

template<typename Numeric = double, Eigen::Index Dim = Eigen::Dynamic, typename Point = Eigen::Matrix<Numeric, Dim, 1>, typename SplineBase = Polynomial<Numeric, Dim, Point>>

const t_spline_t& parametriccurves::Spline< Numeric, Dim, Point, SplineBase >::getSubsplines ( ) const

inline

loadFromFile()

template<typename Numeric = double, Eigen::Index Dim = Eigen::Dynamic, typename Point = Eigen::Matrix<Numeric, Dim, 1>, typename SplineBase = Polynomial<Numeric, Dim, Point>>

bool parametriccurves::Spline< Numeric, Dim, Point, SplineBase >::loadFromFile ( const std::string &  filename )

inline

operator()()

template<typename Numeric = double, Eigen::Index Dim = Eigen::Dynamic, typename Point = Eigen::Matrix<Numeric, Dim, 1>, typename SplineBase = Polynomial<Numeric, Dim, Point>>

virtual const point_t parametriccurves::Spline< Numeric, Dim, Point, SplineBase >::operator() ( const time_t &  t ) const

inlinevirtual

saveToFile()

template<typename Numeric = double, Eigen::Index Dim = Eigen::Dynamic, typename Point = Eigen::Matrix<Numeric, Dim, 1>, typename SplineBase = Polynomial<Numeric, Dim, Point>>

bool parametriccurves::Spline< Numeric, Dim, Point, SplineBase >::saveToFile ( const std::string &  filename ) const

inline

Saved a Derived object as a text file.

setInitialPoint() [1/2]

template<typename Numeric = double, Eigen::Index Dim = Eigen::Dynamic, typename Point = Eigen::Matrix<Numeric, Dim, 1>, typename SplineBase = Polynomial<Numeric, Dim, Point>>

virtual bool parametriccurves::Spline< Numeric, Dim, Point, SplineBase >::setInitialPoint ( const num_t &  )

inlinevirtual

setInitialPoint() [2/2]

template<typename Numeric = double, Eigen::Index Dim = Eigen::Dynamic, typename Point = Eigen::Matrix<Numeric, Dim, 1>, typename SplineBase = Polynomial<Numeric, Dim, Point>>

virtual bool parametriccurves::Spline< Numeric, Dim, Point, SplineBase >::setInitialPoint ( const point_t &  )

inlinevirtual

size()

template<typename Numeric = double, Eigen::Index Dim = Eigen::Dynamic, typename Point = Eigen::Matrix<Numeric, Dim, 1>, typename SplineBase = Polynomial<Numeric, Dim, Point>>

virtual const std::size_t& parametriccurves::Spline< Numeric, Dim, Point, SplineBase >::size ( ) const

inlinevirtual

Friends And Related Function Documentation

boost::serialization::access

template<typename Numeric = double, Eigen::Index Dim = Eigen::Dynamic, typename Point = Eigen::Matrix<Numeric, Dim, 1>, typename SplineBase = Polynomial<Numeric, Dim, Point>>

friend class boost::serialization::access

friend

Member Data Documentation

subSplines_

template<typename Numeric = double, Eigen::Index Dim = Eigen::Dynamic, typename Point = Eigen::Matrix<Numeric, Dim, 1>, typename SplineBase = Polynomial<Numeric, Dim, Point>>

t_spline_t parametriccurves::Spline< Numeric, Dim, Point, SplineBase >::subSplines_

protected

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The documentation for this class was generated from the following file:

• include/parametric-curves/spline.hpp