Constrained B-spline. More...

#include <roboptim/trajectory/constrained-b-spline.hh>

Inheritance diagram for roboptim::trajectory::ConstrainedBSpline< N >:

Public Types
typedef parent_t::interval_t	interval_t

Public Types inherited from roboptim::trajectory::BSpline< N >
typedef parent_t::interval_t	interval_t

typedef Polynomial< N >	polynomial_t

typedef Monomial< N >	monomial_t

typedef std::map< int, polynomial_t, std::less< int > , Eigen::aligned_allocator < std::pair< const int, polynomial_t > > >	cox_map

typedef cox_map::iterator	cox_map_itr_t

typedef std::vector < polynomial_t, Eigen::aligned_allocator < polynomial_t > >	basisPolynomials_t

typedef std::vector < basisPolynomials_t >	basisPolynomialsVector_t

Public Types inherited from roboptim::trajectory::Trajectory< N >
typedef parent_t::interval_t	interval_t
	Import interval type. More...

Public Member Functions
	ROBOPTIM_NTIMES_DERIVABLE_FUNCTION_FWD_TYPEDEFS_ (BSpline< N >)
	Parent type and imports. More...

	ConstrainedBSpline (interval_t timeRange, size_type dimension, const vector_t &parameters, const std::string name="Constrained B-Spline")
	see B-Spline constructors for documentation More...

	ConstrainedBSpline (interval_t tr, size_type dimension, const vector_t &parameters, const_vector_ref knots, std::string name="Constrained B-Spline")
	see B-Spline constructors for documentation More...

virtual	~ConstrainedBSpline ()
	Destructor of constrained B-spline. More...

void	addFixedConstraint (double t, size_type dimension, value_type value, size_type derivative=0)
	Creates a constraint on the basic spline. More...

void	addCoupledConstraint (value_type t_1, size_type dimension_1, value_type t_2, size_type dimension_2, size_type derivative=0, value_type factor=1.)
	Create a constraint against another part of the spline. More...

const vector_t &	parameters () const
	Overloaded parameters method from Trajectory<N>. More...

void	setParameters (const_vector_ref)
	Overloaded setParameters method from Trajectory<N>. More...

virtual Trajectory< N > *	resize (interval_t timeRange) const
	Clone and resize a trajectory. More...

jacobian_t	variationDerivWrtParam (double t, size_type order) const
	Get the variation of a derivative with respect to parameter vector. More...

Public Member Functions inherited from roboptim::trajectory::BSpline< N >
	ROBOPTIM_NTIMES_DERIVABLE_FUNCTION_FWD_TYPEDEFS_ (Trajectory< N >)
	Parent type and imports. More...

	BSpline (const interval_t &timeRange, size_type dimension, const vector_t &parameters, const std::string name="B-Spline", bool clamped=false)
	Instantiate a B-Spline from its definition. More...

	BSpline (const interval_t &tr, size_type dimension, const vector_t &parameters, const_vector_ref knots, std::string name="B-Spline")
	Instantiate a B-Spline with parameters and knot points. More...

	BSpline (const BSpline< N > &spline)
	Copy constructor. More...

template<int M>
BSpline< N >	derivative () const
	Compute the derivative of the B-spline for a given order. More...

virtual	~BSpline ()
	Virtual destructor. More...

virtual jacobian_t	variationConfigWrtParam (value_type t) const

virtual jacobian_t	variationDerivWrtParam (value_type t, size_type order) const

virtual value_type	singularPointAtRank (size_type rank) const
	Get singular point at given rank. More...

virtual vector_t	derivBeforeSingularPoint (size_type rank, size_type order) const
	Get left limit value of derivative at given singular point. More...

virtual vector_t	derivAfterSingularPoint (size_type rank, size_type order) const
	Get right limit value of derivative at given singular point. More...

virtual std::ostream &	print (std::ostream &o) const
	Display the function on the specified output stream. More...

jacobian_t	variationConfigWrtParam (StableTimePoint tp) const

jacobian_t	variationDerivWrtParam (StableTimePoint tp, size_type order) const

value_type	Dt () const ROBOPTIM_TRAJECTORY_DEPRECATED

const vector_t &	knotVector () const
	Return the knot vector of the spline. More...

size_type	interval (value_type t) const

size_type	getNumberControlPoints () const
	Get the number of control points of the spline. More...

void	toPolynomials (basisPolynomials_t &res) const
	Return the polynomial expression of the B-spline on each time interval. More...

const basisPolynomialsVector_t &	basisPolynomials () const
	Constant getter for the basis polynomials of the B-spline. More...

int	order () const
	Retrieve the order of the spline. More...

template<int M>
BSpline< N > ::basisPolynomialsVector_t	deriveBasisPolynomials () const

Public Member Functions inherited from roboptim::trajectory::Trajectory< N >
	ROBOPTIM_NTIMES_DERIVABLE_FUNCTION_FWD_TYPEDEFS_ (NTimesDerivableFunction< DerivabilityOrder >)
	Parent type and imports. More...

virtual	~Trajectory ()

result_t	operator() (StableTimePoint argument) const

void	operator() (result_ref result, StableTimePoint argument) const

derivative_t	derivative (StableTimePoint argument, size_type order=1) const

void	derivative (derivative_ref derivative, StableTimePoint argument, size_type order=1) const

bool	isValidTime (value_type t) const

virtual void	normalizeAngles (size_type index)
	Normalize angles in parameters array. More...

virtual Trajectory < DerivabilityOrder > *	clone () const =0

const vector_t &	parameters () const

interval_t	timeRange () const

value_type	length () const

virtual vector_t	state (double t, size_type order) const
	Get state along trajectory. More...

virtual vector_t	state (StableTimePoint t, size_type order) const

virtual jacobian_t	variationConfigWrtParam (double t) const =0
	Get the variation of a configuration with respect to parameter vector. More...

jacobian_t	variationStateWrtParam (double t, size_type order) const
	Get the variation of the state with respect to parameter vector. More...

jacobian_t	variationStateWrtParam (StableTimePoint stp, size_type order) const

size_type	singularPoints () const
	Get number of singular points. More...

void	tolerance (const double &tolerance)

double	tolerance () const
	Get tolerance for inclusion of parameter in interval of definition. More...

Protected Member Functions
void	updateProjector ()
	Update the projector matrix. Called after adding a constraint. More...

Protected Member Functions inherited from roboptim::trajectory::BSpline< N >
	BSpline (ConstructionMode mode, const interval_t &timeRange, size_type dimension, const vector_t &parameters, const std::string name="B-Spline", bool clamped=false)
	Special constructor used internally for specific cases (e.g. More...

void	impl_compute (result_ref, value_type) const

void	impl_derivative (derivative_ref g, value_type x, size_type order) const

void	impl_derivative (derivative_ref g, StableTimePoint, size_type order) const

vector_t	basisFunctions (value_type t, size_type order) const ROBOPTIM_TRAJECTORY_DEPRECATED

void	computeBasisPolynomials ()
	Compute the basis polynomials. More...

template<int M>
basisPolynomialsVector_t	deriveBasisPolynomials () const
	Derive basis polynomials, but express the result as polynomials of BSpline<N> instead of BSpline<N-M>. More...

cox_map	cox_de_boor (size_type j, size_type n) const
	Generate base polynomial set For the basic spline formula noted in the pdf from the docs section, this implements (3), the recursion formula. More...

void	initializeKnots (bool clamped)
	Initialize the knot vector. More...

Protected Member Functions inherited from roboptim::trajectory::Trajectory< N >
virtual void	normalizeAngles (size_type index, size_type offset)
	Internal version of normalizeAngles allowing an optional offset. More...

void	impl_compute (result_ref, StableTimePoint) const

	Trajectory (interval_t, size_type, const vector_t &, std::string name=std::string())

Protected Attributes
matrix_t	constraints_
	Matrix storing constraints. More...

vector_t	constraint_values_
	Constraint values. More...

vector_t	tunables_
	Tunable parameters, i.e. the free parameters. More...

matrix_t	projector_
	Projector matrix. More...

vector_t	projector_offset_
	Result of: Constraints * X = Constraint values. More...

Additional Inherited Members
Protected Types inherited from roboptim::trajectory::BSpline< N >
enum	ConstructionMode { NORMAL = 0, UNINITIALIZED = 1 }
	Enum for special constructors. More...

Static Protected Attributes inherited from roboptim::trajectory::BSpline< N >
static const size_type	order_ = N
	Order of the B-Spline. More...

static log4cxx::LoggerPtr	logger
	Pointer to B-spline logger (see log4cxx documentation). More...

Detailed Description

template<int N>
class roboptim::trajectory::ConstrainedBSpline< N >

Constrained B-spline.

Template Parameters

N	B-spline order.

Member Typedef Documentation

template<int N>

typedef parent_t::interval_t roboptim::trajectory::ConstrainedBSpline< N >::interval_t

Constructor & Destructor Documentation

template<int N>

roboptim::trajectory::ConstrainedBSpline< N >::ConstrainedBSpline	(	interval_t	timeRange,
		size_type	dimension,
		const vector_t &	parameters,
		const std::string	name = `"Constrained B-Spline"`
	)

see B-Spline constructors for documentation

template<int N>

roboptim::trajectory::ConstrainedBSpline< N >::ConstrainedBSpline	(	interval_t	tr,
		size_type	dimension,
		const vector_t &	parameters,
		const_vector_ref	knots,
		std::string	name = `"Constrained B-Spline"`
	)

see B-Spline constructors for documentation

template<int N>

roboptim::trajectory::ConstrainedBSpline< N >::~ConstrainedBSpline ( )

virtual

Destructor of constrained B-spline.

Member Function Documentation

template<int N>

void roboptim::trajectory::ConstrainedBSpline< N >::addCoupledConstraint	(	value_type	t_1,
		size_type	dimension_1,
		value_type	t_2,
		size_type	dimension_2,
		size_type	derivative = `0`,
		value_type	factor = `1.`
	)

Create a constraint against another part of the spline.

\(\frac{\partial^d}{\partial t^d} f_{d_1}(t_1) = factor * \frac{\partial^d}{\partial t^d} f_{d_2}(t_2) \)

Parameters

t_1	first time.
dimension_1	first dimension.
t_2	second time.
dimension_2	second dimension.
derivative	derivative order ( \(d\)).
factor	scalar factor.

References roboptim::trajectory::detail::fixTime().

template<int N>

void roboptim::trajectory::ConstrainedBSpline< N >::addFixedConstraint	(	double	t,
		size_type	dimension,
		value_type	value,
		size_type	derivative = `0`
	)

Creates a constraint on the basic spline.

This reduces the number of parameter by one. The constraint equation is: \(value = \frac{\partial^derivative}{\partial t^derivative} f_{dimension}(t) \)

Parameters

t	time in the spline to constrain.
dimension	Which dimension of the spline to constrain.
value	Desired spline value at t.
derivative	Which derivative of the spline to constrain.

References roboptim::trajectory::detail::fixTime().

template<int N>

const ConstrainedBSpline< N >::vector_t & roboptim::trajectory::ConstrainedBSpline< N >::parameters ( ) const

Overloaded parameters method from Trajectory<N>.

Returns only the tunable parameters.

template<int N>

Trajectory< N > * roboptim::trajectory::ConstrainedBSpline< N >::resize ( interval_t timeRange ) const