Representation of a spatial vector curve in the form of splines Returns Plucker coordinates in the form of (Linear(3), Angular(3)) More...

#include <parametric-curves/spatial/force-curve.hpp>

Inheritance diagram for parametriccurves::spatial::ForceCurve< Numeric >:

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Collaboration diagram for parametriccurves::spatial::ForceCurve< Numeric >:

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Public Types
typedef Eigen::Matrix< Numeric, 2 *Dim, 1 >	force_t

typedef Eigen::Matrix< Numeric, 2 *Dim, 1 >	motion_t

typedef Spline< Numeric, Dim, Eigen::Matrix< Numeric, Dim, 1 > >	spline_lin_t

typedef Spline< Numeric, Dim, Eigen::Matrix< Numeric, Dim, 1 > >	spline_ang_t

typedef Numeric	time_t

typedef Numeric	num_t

typedef AbstractCurve< num_t, force_t >	curve_abc_t

Public Types inherited from parametriccurves::AbstractCurve< double, Eigen::Matrix< double, 6, 1 > >
typedef Eigen::Matrix< double, 6, 1 >	point_t

typedef double	time_t

typedef double	num_t

Public Member Functions
	ForceCurve ()
	Constructor. More...

	ForceCurve (const spline_lin_t &linPart_, const spline_ang_t &angPart_)
	Constructor. More...

	ForceCurve (const ForceCurve &other)
	Copy Constructor. More...

	~ForceCurve ()
	Destructor. More...

virtual const force_t	operator() (const time_t &t) const

virtual const force_t	derivate (const time_t &, const std::size_t &) const

virtual const std::size_t &	size () const

void	setMotionVector (const motion_t &motionVector_)

virtual bool	setInitialPoint (const force_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, 6, 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_)

Static Public Attributes
static const std::size_t	Dim = 3

Protected Attributes
spline_lin_t	linPart

spline_ang_t	angPart

motion_t	motionVector

Protected Attributes inherited from parametriccurves::AbstractCurve< double, Eigen::Matrix< double, 6, 1 > >
time_t	t_min

time_t	t_max

Friends
class	boost::serialization::access

Detailed Description

template<typename Numeric = double>
class parametriccurves::spatial::ForceCurve< Numeric >

Representation of a spatial vector curve in the form of splines Returns Plucker coordinates in the form of (Linear(3), Angular(3))

Member Typedef Documentation

◆ curve_abc_t

template<typename Numeric = double>

typedef AbstractCurve<num_t, force_t> parametriccurves::spatial::ForceCurve< Numeric >::curve_abc_t

◆ force_t

template<typename Numeric = double>

typedef Eigen::Matrix<Numeric, 2 * Dim, 1> parametriccurves::spatial::ForceCurve< Numeric >::force_t

◆ motion_t

template<typename Numeric = double>

typedef Eigen::Matrix<Numeric, 2 * Dim, 1> parametriccurves::spatial::ForceCurve< Numeric >::motion_t

◆ num_t

template<typename Numeric = double>

typedef Numeric parametriccurves::spatial::ForceCurve< Numeric >::num_t

◆ spline_ang_t

template<typename Numeric = double>

typedef Spline<Numeric, Dim, Eigen::Matrix<Numeric, Dim, 1> > parametriccurves::spatial::ForceCurve< Numeric >::spline_ang_t

◆ spline_lin_t

template<typename Numeric = double>

typedef Spline<Numeric, Dim, Eigen::Matrix<Numeric, Dim, 1> > parametriccurves::spatial::ForceCurve< Numeric >::spline_lin_t

◆ time_t

template<typename Numeric = double>

typedef Numeric parametriccurves::spatial::ForceCurve< Numeric >::time_t

Constructor & Destructor Documentation

◆ ForceCurve() [1/3]

template<typename Numeric = double>

parametriccurves::spatial::ForceCurve< Numeric >::ForceCurve ( )

inline

Constructor.

◆ ForceCurve() [2/3]

template<typename Numeric = double>

parametriccurves::spatial::ForceCurve< Numeric >::ForceCurve	(	const spline_lin_t &	linPart_,
		const spline_ang_t &	angPart_
	)

inline

Constructor.

Parameters

subSplines vector of subsplines

◆ ForceCurve() [3/3]

template<typename Numeric = double>

parametriccurves::spatial::ForceCurve< Numeric >::ForceCurve ( const ForceCurve< Numeric > & other )

inline

Copy Constructor.

◆ ~ForceCurve()

template<typename Numeric = double>

parametriccurves::spatial::ForceCurve< Numeric >::~ForceCurve ( )

inline

Destructor.

Member Function Documentation

◆ derivate()

template<typename Numeric = double>

virtual const force_t parametriccurves::spatial::ForceCurve< Numeric >::derivate	(	const time_t &	,
		const std::size_t &
	)		const

inlinevirtual

◆ loadFromFile()

template<typename Numeric = double>

bool parametriccurves::spatial::ForceCurve< Numeric >::loadFromFile ( const std::string & filename )

inline

◆ operator()()

template<typename Numeric = double>

virtual const force_t parametriccurves::spatial::ForceCurve< Numeric >::operator() ( const time_t & t ) const

inlinevirtual

◆ saveToFile()

template<typename Numeric = double>

bool parametriccurves::spatial::ForceCurve< Numeric >::saveToFile ( const std::string & filename ) const

inline

Saved a Derived object as a text file.

◆ setInitialPoint() [1/2]

template<typename Numeric = double>

virtual bool parametriccurves::spatial::ForceCurve< Numeric >::setInitialPoint ( const force_t & )

inlinevirtual

◆ setInitialPoint() [2/2]

template<typename Numeric = double>

virtual bool parametriccurves::spatial::ForceCurve< Numeric >::setInitialPoint ( const num_t & )

inlinevirtual

◆ setMotionVector()

template<typename Numeric = double>

void parametriccurves::spatial::ForceCurve< Numeric >::setMotionVector ( const motion_t & motionVector_ )

inline

◆ size()

template<typename Numeric = double>

virtual const std::size_t& parametriccurves::spatial::ForceCurve< Numeric >::size ( ) const

inlinevirtual

Friends And Related Function Documentation

◆ boost::serialization::access

template<typename Numeric = double>

friend class boost::serialization::access

friend

Member Data Documentation

◆ angPart

template<typename Numeric = double>

spline_ang_t parametriccurves::spatial::ForceCurve< Numeric >::angPart

protected

◆ Dim

template<typename Numeric = double>

const std::size_t parametriccurves::spatial::ForceCurve< Numeric >::Dim = 3

static

◆ linPart

template<typename Numeric = double>

spline_lin_t parametriccurves::spatial::ForceCurve< Numeric >::linPart

protected

◆ motionVector

template<typename Numeric = double>

motion_t parametriccurves::spatial::ForceCurve< Numeric >::motionVector

protected

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

include/parametric-curves/spatial/force-curve.hpp

Public Types

Public Member Functions

Static Public Attributes

Protected Attributes

Friends

Detailed Description

template<typename Numeric = double> class parametriccurves::spatial::ForceCurve< Numeric >

Member Typedef Documentation

◆ curve_abc_t

◆ force_t

◆ motion_t

◆ num_t

◆ spline_ang_t

◆ spline_lin_t

◆ time_t

Constructor & Destructor Documentation

◆ ForceCurve() [1/3]

◆ ForceCurve() [2/3]

◆ ForceCurve() [3/3]

◆ ~ForceCurve()

Member Function Documentation

◆ derivate()

◆ loadFromFile()

◆ operator()()

◆ saveToFile()

◆ setInitialPoint() [1/2]

◆ setInitialPoint() [2/2]

◆ setMotionVector()

◆ size()

Friends And Related Function Documentation

◆ boost::serialization::access

Member Data Documentation

◆ angPart

◆ Dim

◆ linPart

◆ motionVector

template<typename Numeric = double>
class parametriccurves::spatial::ForceCurve< Numeric >