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Mathematical functions

B-Spline trajectory. More...

Classes

class  roboptim::trajectory::BSpline< N >
 
class  roboptim::trajectory::ConstrainedBSpline< N >
 Constrained B-spline. More...
 
class  roboptim::trajectory::CubicBSpline
 Cubic B-Spline trajectory. More...
 
class  roboptim::trajectory::FreeTimeTrajectory< T >
 Decorate a trajectory to make time scalable. More...
 
class  roboptim::trajectory::SplineLength
 Approximate the length of a Spline. More...
 

Functions

 roboptim::trajectory::SplineLength::SplineLength (const CubicBSpline &spline, const size_type nDiscretizationPoints=100, boost::optional< interval_t > interval=boost::none)
 Construct the function from a Spline and a definition interval. More...
 
virtual roboptim::trajectory::SplineLength::~SplineLength ()
 
void roboptim::trajectory::SplineLength::impl_compute (result_ref, const_argument_ref) const
 
void roboptim::trajectory::SplineLength::impl_gradient (gradient_ref, const_argument_ref, size_type) const
 

Variables

static log4cxx::LoggerPtr roboptim::trajectory::BSpline< N >::logger
 Pointer to B-spline logger (see log4cxx documentation). More...
 

Detailed Description

B-Spline trajectory.

Implement a B-Spline as a trajectory based in doc/quintic-b-spline.tex The template parameter N determines the order of the spline.

Function Documentation

void roboptim::trajectory::SplineLength::impl_compute ( result_ref  res,
const_argument_ref  p 
) const
protected

ROBOPTIM_DO_NOT_CHECK_ALLOCATION

ROBOPTIM_DO_NOT_CHECK_ALLOCATION

References roboptim::trajectory::CubicBSpline::setParameters(), and roboptim::trajectory::TrajectoryCost< CubicBSpline >::trajectory_.

void roboptim::trajectory::SplineLength::impl_gradient ( gradient_ref  ,
const_argument_ref  ,
size_type    
) const
protected

ROBOPTIM_DO_NOT_CHECK_ALLOCATION

ROBOPTIM_DO_NOT_CHECK_ALLOCATION

References roboptim::trajectory::CubicBSpline::setParameters(), and roboptim::trajectory::TrajectoryCost< CubicBSpline >::trajectory_.

roboptim::trajectory::SplineLength::SplineLength ( const CubicBSpline spline,
const size_type  nDiscretizationPoints = 100,
boost::optional< interval_t >  interval = boost::none 
)

Construct the function from a Spline and a definition interval.

The interval allows to only compute the length of the Spline on a specific interval. The step associated to the interval controls the approximation precision.

Parameters
splinespline used for length computation
intervalinterval on which the length is computed.
nDiscretizationPointsnumber of discretization points
roboptim::trajectory::SplineLength::~SplineLength ( )
virtual

Variable Documentation

template<int N>
log4cxx::LoggerPtr roboptim::trajectory::BSpline< N >::logger
staticprotected

Pointer to B-spline logger (see log4cxx documentation).

LOG4CXX logger for B-splines.

Template Parameters
Norder of the B-Spline.
Returns
logger.