Constraint function on a spline's interval. More...

#include <roboptim/trajectory/constraints-over-splines.hh>

Inheritance diagram for roboptim::trajectory::ConstraintsOverSplines< T, S >:

Public Types
typedef S::polynomial_t	polynomial_t

typedef Function::interval_t	interval_t

typedef std::vector< polynomial_t >	polynomials_t

typedef S	spline_t

typedef boost::shared_ptr < spline_t >	splinePtr_t

typedef std::vector < boost::shared_ptr< S > >	splines_t

Public Member Functions
	ROBOPTIM_DIFFERENTIABLE_FUNCTION_FWD_TYPEDEFS_ (roboptim::GenericDifferentiableFunction< T >)

	ConstraintsOverSplines (const splines_t &splines, size_t splineIdx, unsigned int order, value_type startingPoint, size_type inputSize)
	Constructor. More...

Protected Member Functions
polynomial_t	toPoly (const_argument_ref x) const

virtual void	impl_compute (result_ref result, const_argument_ref x) const

virtual void	impl_gradient (gradient_ref grad, const_argument_ref x, size_type i) const

Static Protected Member Functions
static std::string	GenerateName (const splines_t &splines, size_t splineIdx, unsigned int order, value_type startingPoint)
	Generate the name of the constraint. More...

static interval_t	ComputeInterval (const splines_t &splines, size_t splineIdx, value_type startingPoint)
	Compute the range of the time interval. More...

static size_t	ComputeIntervalIdx (const splines_t &splines, size_t splineIdx, value_type startingPoint)
	Determine the interval index of the constraint. More...

static size_type	ComputeStartIdx (const splines_t &splines, size_t splineIdx)
	Determine the first index in the argument vector, assuming all joint control points are contiguous. More...

Protected Attributes
size_t	order_
	Order of the spline (e.g. 3 for cubic). More...

S::interval_t	interval_
	Time range of the constraint. More...

size_type	startingIndex_
	Index of the influencing control points. More...

polynomials_t	basisPolynomials_
	Basis polynomials used for gradient computation. More...

spline_t	spline_
	Constrained spline. More...

size_t	intervalIdx_
	Index of the constrained time interval. More...

Detailed Description

template<typename T, typename S>
class roboptim::trajectory::ConstraintsOverSplines< T, S >

Constraint function on a spline's interval.

Template Parameters

T	Matrix type
S	Spline type

Member Typedef Documentation

template<typename T, typename S>

typedef Function::interval_t roboptim::trajectory::ConstraintsOverSplines< T, S >::interval_t

template<typename T, typename S>

typedef S::polynomial_t roboptim::trajectory::ConstraintsOverSplines< T, S >::polynomial_t

template<typename T, typename S>

typedef std::vector<polynomial_t> roboptim::trajectory::ConstraintsOverSplines< T, S >::polynomials_t

template<typename T, typename S>

typedef S roboptim::trajectory::ConstraintsOverSplines< T, S >::spline_t

template<typename T, typename S>

typedef boost::shared_ptr<spline_t> roboptim::trajectory::ConstraintsOverSplines< T, S >::splinePtr_t

template<typename T, typename S>

typedef std::vector<boost::shared_ptr<S> > roboptim::trajectory::ConstraintsOverSplines< T, S >::splines_t

Constructor & Destructor Documentation

template<typename T , typename S >

roboptim::trajectory::ConstraintsOverSplines< T, S >::ConstraintsOverSplines	(	const splines_t &	splines,
		size_t	splineIdx,
		unsigned int	order,
		value_type	startingPoint,
		size_type	inputSize
	)

Constructor.

Parameters

splines	vector of splines.
splineIdx	index of the spline to constrain.
order	derivation order of the spline to constain.
startingPoint	starting point of the constraint.
inputSize	input size of the problem.

Member Function Documentation

template<typename T , typename S >

ConstraintsOverSplines< T, S >::interval_t roboptim::trajectory::ConstraintsOverSplines< T, S >::ComputeInterval	(	const splines_t &	splines,
		size_t	splineIdx,
		value_type	startingPoint
	)

staticprotected

Compute the range of the time interval.

Parameters

splines	vector of splines.
splineIdx	index of the spline to constrain.
startingPoint	starting point of the constraint.

template<typename T , typename S >

size_t roboptim::trajectory::ConstraintsOverSplines< T, S >::ComputeIntervalIdx	(	const splines_t &	splines,
		size_t	splineIdx,
		value_type	startingPoint
	)

staticprotected

Determine the interval index of the constraint.

Parameters

splines	vector of splines.
splineIdx	index of the spline to constrain.
startingPoint	starting point of the constraint.

template<typename T , typename S >

ConstraintsOverSplines< T, S >::size_type roboptim::trajectory::ConstraintsOverSplines< T, S >::ComputeStartIdx	(	const splines_t &	splines,
		size_t	splineIdx
	)

staticprotected

Determine the first index in the argument vector, assuming all joint control points are contiguous.

Parameters

splines	vector of splines.
splineIdx	index of the spline to constrain.

template<typename T , typename S >

std::string roboptim::trajectory::ConstraintsOverSplines< T, S >::GenerateName	(	const splines_t &	splines,
		size_t	splineIdx,
		unsigned int	order,
		value_type	startingPoint
	)

staticprotected

Generate the name of the constraint.

Parameters

splines	vector of splines.
splineIdx	index of the spline to constrain.
order	derivation order of the spline to constain.
startingPoint	starting point of the constraint.

template<typename T , typename S >

void roboptim::trajectory::ConstraintsOverSplines< T, S >::impl_compute	(	result_ref	result,
		const_argument_ref	x
	)		const

protectedvirtual

template<typename T , typename S >

void roboptim::trajectory::ConstraintsOverSplines< T, S >::impl_gradient	(	gradient_ref	grad,
		const_argument_ref	x,
		size_type	i
	)		const

protectedvirtual

template<typename T, typename S>

roboptim::trajectory::ConstraintsOverSplines< T, S >::ROBOPTIM_DIFFERENTIABLE_FUNCTION_FWD_TYPEDEFS_ ( roboptim::GenericDifferentiableFunction< T > )

template<typename T , typename S >

ConstraintsOverSplines< T, S >::polynomial_t roboptim::trajectory::ConstraintsOverSplines< T, S >::toPoly ( const_argument_ref x ) const

protected

Member Data Documentation

template<typename T, typename S>

polynomials_t roboptim::trajectory::ConstraintsOverSplines< T, S >::basisPolynomials_

protected

Basis polynomials used for gradient computation.

template<typename T, typename S>

S::interval_t roboptim::trajectory::ConstraintsOverSplines< T, S >::interval_

protected

Time range of the constraint.

template<typename T, typename S>

size_t roboptim::trajectory::ConstraintsOverSplines< T, S >::intervalIdx_

protected

Index of the constrained time interval.

template<typename T, typename S>

size_t roboptim::trajectory::ConstraintsOverSplines< T, S >::order_

protected

Order of the spline (e.g. 3 for cubic).

template<typename T, typename S>

spline_t roboptim::trajectory::ConstraintsOverSplines< T, S >::spline_

mutableprotected

Constrained spline.

template<typename T, typename S>

size_type roboptim::trajectory::ConstraintsOverSplines< T, S >::startingIndex_

protected

Index of the influencing control points.

Public Types

Public Member Functions

Protected Member Functions

Static Protected Member Functions

Protected Attributes

Detailed Description

template<typename T, typename S> class roboptim::trajectory::ConstraintsOverSplines< T, S >

Member Typedef Documentation

Constructor & Destructor Documentation

Member Function Documentation

Member Data Documentation

template<typename T, typename S>
class roboptim::trajectory::ConstraintsOverSplines< T, S >