#include <parametric-curves/bezier_curve.h>

Inheritance diagram for spline::bezier_curve< Time, Numeric, Dim, Safe, Point >:

Collaboration diagram for spline::bezier_curve< Time, Numeric, Dim, Safe, Point >:

Public Types
typedef Point	point_t

typedef Time	time_t

typedef Numeric	num_t

typedef curve_constraints< point_t >	curve_constraints_t

typedef std::vector< point_t, Eigen::aligned_allocator< point_t > >	t_point_t

typedef t_point_t::const_iterator	cit_point_t

typedef bezier_curve< Time, Numeric, Dim, Safe, Point >	bezier_curve_t

Public Member Functions
template<typename In >
	bezier_curve (In PointsBegin, In PointsEnd, const time_t minBound=0, const time_t maxBound=1)
	Constructor. More...

template<typename In >
	bezier_curve (In PointsBegin, In PointsEnd, const curve_constraints_t &constraints, const time_t minBound=0, const time_t maxBound=1)
	Constructor This constructor will add 4 points (2 after the first one, 2 before the last one) to ensure that velocity and acceleration constraints are respected. More...

	~bezier_curve ()
	Destructor. More...

virtual point_t	operator() (const time_t t) const
	Evaluation of the cubic spline at time t. More...

bezier_curve_t	compute_derivate (const std::size_t order) const
	Computes the derivative curve at order N. More...

bezier_curve_t	compute_primitive (const std::size_t order) const
	Computes the primitive of the curve at order N. More...

virtual point_t	derivate (const time_t t, const std::size_t order) const
	Evaluates the derivative at order N of the curve. If the derivative is to be evaluated several times, it is rather recommended to compute the derivative curve using compute_derivate. More...

point_t	evalBernstein (const Numeric u) const
	Evaluates all Bernstein polynomes for a certain degree. More...

point_t	evalHorner (const Numeric t) const
	Evaluates all Bernstein polynomes for a certain degree using horner's scheme. More...

const t_point_t &	waypoints () const

virtual time_t	min () const

virtual time_t	max () const

Public Attributes
const time_t	minBound_

const time_t	maxBound_

const std::size_t	size_

const std::size_t	degree_

const std::vector< Bern< Numeric > >	bernstein_

Member Typedef Documentation

◆ bezier_curve_t

template<typename Time = double, typename Numeric = Time, Eigen::Index Dim = 3, bool Safe = false, typename Point = Eigen::Matrix<Numeric, Dim, 1>>

typedef bezier_curve<Time, Numeric, Dim, Safe, Point> spline::bezier_curve< Time, Numeric, Dim, Safe, Point >::bezier_curve_t

◆ cit_point_t

template<typename Time = double, typename Numeric = Time, Eigen::Index Dim = 3, bool Safe = false, typename Point = Eigen::Matrix<Numeric, Dim, 1>>

typedef t_point_t::const_iterator spline::bezier_curve< Time, Numeric, Dim, Safe, Point >::cit_point_t

◆ curve_constraints_t

template<typename Time = double, typename Numeric = Time, Eigen::Index Dim = 3, bool Safe = false, typename Point = Eigen::Matrix<Numeric, Dim, 1>>

typedef curve_constraints<point_t> spline::bezier_curve< Time, Numeric, Dim, Safe, Point >::curve_constraints_t

◆ num_t

template<typename Time = double, typename Numeric = Time, Eigen::Index Dim = 3, bool Safe = false, typename Point = Eigen::Matrix<Numeric, Dim, 1>>

typedef Numeric spline::bezier_curve< Time, Numeric, Dim, Safe, Point >::num_t

◆ point_t

template<typename Time = double, typename Numeric = Time, Eigen::Index Dim = 3, bool Safe = false, typename Point = Eigen::Matrix<Numeric, Dim, 1>>

typedef Point spline::bezier_curve< Time, Numeric, Dim, Safe, Point >::point_t

◆ t_point_t

template<typename Time = double, typename Numeric = Time, Eigen::Index Dim = 3, bool Safe = false, typename Point = Eigen::Matrix<Numeric, Dim, 1>>

typedef std::vector<point_t, Eigen::aligned_allocator<point_t> > spline::bezier_curve< Time, Numeric, Dim, Safe, Point >::t_point_t

◆ time_t

template<typename Time = double, typename Numeric = Time, Eigen::Index Dim = 3, bool Safe = false, typename Point = Eigen::Matrix<Numeric, Dim, 1>>

typedef Time spline::bezier_curve< Time, Numeric, Dim, Safe, Point >::time_t

Constructor & Destructor Documentation

◆ bezier_curve() [1/2]

template<typename Time = double, typename Numeric = Time, Eigen::Index Dim = 3, bool Safe = false, typename Point = Eigen::Matrix<Numeric, Dim, 1>>

template<typename In >

spline::bezier_curve< Time, Numeric, Dim, Safe, Point >::bezier_curve	(	In	PointsBegin,
		In	PointsEnd,
		const time_t	minBound = `0`,
		const time_t	maxBound = `1`
	)

inline

Constructor.

Parameters

PointsBegin,PointsEnd : the points parametering the Bezier curve

◆ bezier_curve() [2/2]

template<typename Time = double, typename Numeric = Time, Eigen::Index Dim = 3, bool Safe = false, typename Point = Eigen::Matrix<Numeric, Dim, 1>>

template<typename In >

spline::bezier_curve< Time, Numeric, Dim, Safe, Point >::bezier_curve	(	In	PointsBegin,
		In	PointsEnd,
		const curve_constraints_t &	constraints,
		const time_t	minBound = `0`,
		const time_t	maxBound = `1`
	)

inline

Constructor This constructor will add 4 points (2 after the first one, 2 before the last one) to ensure that velocity and acceleration constraints are respected.

Parameters

PointsBegin,PointsEnd	: the points parametering the Bezier curve
constraints	: constraints applying on start / end velocities and acceleration

◆ ~bezier_curve()

template<typename Time = double, typename Numeric = Time, Eigen::Index Dim = 3, bool Safe = false, typename Point = Eigen::Matrix<Numeric, Dim, 1>>

spline::bezier_curve< Time, Numeric, Dim, Safe, Point >::~bezier_curve ( )

inline

Destructor.

Member Function Documentation

◆ compute_derivate()

template<typename Time = double, typename Numeric = Time, Eigen::Index Dim = 3, bool Safe = false, typename Point = Eigen::Matrix<Numeric, Dim, 1>>

bezier_curve_t spline::bezier_curve< Time, Numeric, Dim, Safe, Point >::compute_derivate ( const std::size_t order ) const

inline

Computes the derivative curve at order N.

Parameters

order	: order of the derivative
return	: the value x(t)

◆ compute_primitive()

template<typename Time = double, typename Numeric = Time, Eigen::Index Dim = 3, bool Safe = false, typename Point = Eigen::Matrix<Numeric, Dim, 1>>

bezier_curve_t spline::bezier_curve< Time, Numeric, Dim, Safe, Point >::compute_primitive ( const std::size_t order ) const

inline

Computes the primitive of the curve at order N.

Parameters

constant	: value of the primitive at t = 0
return	: the curve x_1(t) such that d/dt(x_1(t)) = x_1(t)

◆ derivate()

template<typename Time = double, typename Numeric = Time, Eigen::Index Dim = 3, bool Safe = false, typename Point = Eigen::Matrix<Numeric, Dim, 1>>

virtual point_t spline::bezier_curve< Time, Numeric, Dim, Safe, Point >::derivate	(	const time_t	t,
		const std::size_t	order
	)		const

inlinevirtual

Evaluates the derivative at order N of the curve. If the derivative is to be evaluated several times, it is rather recommended to compute the derivative curve using compute_derivate.

Parameters

order	: order of the derivative
t	: the time when to evaluate the spine
return	: the value x(t)

◆ evalBernstein()

template<typename Time = double, typename Numeric = Time, Eigen::Index Dim = 3, bool Safe = false, typename Point = Eigen::Matrix<Numeric, Dim, 1>>

point_t spline::bezier_curve< Time, Numeric, Dim, Safe, Point >::evalBernstein ( const Numeric u ) const

inline

Evaluates all Bernstein polynomes for a certain degree.

◆ evalHorner()

template<typename Time = double, typename Numeric = Time, Eigen::Index Dim = 3, bool Safe = false, typename Point = Eigen::Matrix<Numeric, Dim, 1>>

point_t spline::bezier_curve< Time, Numeric, Dim, Safe, Point >::evalHorner ( const Numeric t ) const

inline

Evaluates all Bernstein polynomes for a certain degree using horner's scheme.

◆ max()

template<typename Time = double, typename Numeric = Time, Eigen::Index Dim = 3, bool Safe = false, typename Point = Eigen::Matrix<Numeric, Dim, 1>>

virtual time_t spline::bezier_curve< Time, Numeric, Dim, Safe, Point >::max ( ) const

inlinevirtual

◆ min()

template<typename Time = double, typename Numeric = Time, Eigen::Index Dim = 3, bool Safe = false, typename Point = Eigen::Matrix<Numeric, Dim, 1>>

virtual time_t spline::bezier_curve< Time, Numeric, Dim, Safe, Point >::min ( ) const

inlinevirtual

◆ operator()()

template<typename Time = double, typename Numeric = Time, Eigen::Index Dim = 3, bool Safe = false, typename Point = Eigen::Matrix<Numeric, Dim, 1>>

virtual point_t spline::bezier_curve< Time, Numeric, Dim, Safe, Point >::operator() ( const time_t t ) const

inlinevirtual

Evaluation of the cubic spline at time t.

Parameters

t	: the time when to evaluate the spine
return	: the value x(t)

◆ waypoints()

template<typename Time = double, typename Numeric = Time, Eigen::Index Dim = 3, bool Safe = false, typename Point = Eigen::Matrix<Numeric, Dim, 1>>

const t_point_t& spline::bezier_curve< Time, Numeric, Dim, Safe, Point >::waypoints ( ) const

inline

Member Data Documentation

◆ bernstein_

template<typename Time = double, typename Numeric = Time, Eigen::Index Dim = 3, bool Safe = false, typename Point = Eigen::Matrix<Numeric, Dim, 1>>

const std::vector<Bern<Numeric> > spline::bezier_curve< Time, Numeric, Dim, Safe, Point >::bernstein_

◆ degree_

template<typename Time = double, typename Numeric = Time, Eigen::Index Dim = 3, bool Safe = false, typename Point = Eigen::Matrix<Numeric, Dim, 1>>

const std::size_t spline::bezier_curve< Time, Numeric, Dim, Safe, Point >::degree_

◆ maxBound_

template<typename Time = double, typename Numeric = Time, Eigen::Index Dim = 3, bool Safe = false, typename Point = Eigen::Matrix<Numeric, Dim, 1>>

const time_t spline::bezier_curve< Time, Numeric, Dim, Safe, Point >::maxBound_

◆ minBound_

template<typename Time = double, typename Numeric = Time, Eigen::Index Dim = 3, bool Safe = false, typename Point = Eigen::Matrix<Numeric, Dim, 1>>

const time_t spline::bezier_curve< Time, Numeric, Dim, Safe, Point >::minBound_

◆ size_

template<typename Time = double, typename Numeric = Time, Eigen::Index Dim = 3, bool Safe = false, typename Point = Eigen::Matrix<Numeric, Dim, 1>>

const std::size_t spline::bezier_curve< Time, Numeric, Dim, Safe, Point >::size_

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

include/parametric-curves/bezier_curve.h

Public Types

Public Member Functions

Public Attributes

Member Typedef Documentation

◆ bezier_curve_t

◆ cit_point_t

◆ curve_constraints_t

◆ num_t

◆ point_t

◆ t_point_t

◆ time_t

Constructor & Destructor Documentation

◆ bezier_curve() [1/2]

◆ bezier_curve() [2/2]

◆ ~bezier_curve()

Member Function Documentation

◆ compute_derivate()

◆ compute_primitive()

◆ derivate()

◆ evalBernstein()

◆ evalHorner()

◆ max()

◆ min()

◆ operator()()

◆ waypoints()

Member Data Documentation

◆ bernstein_

◆ degree_

◆ maxBound_

◆ minBound_

◆ size_