Decorate a trajectory to make time scalable. More...

#include <roboptim/trajectory/fwd.hh>

Inheritance diagram for roboptim::trajectory::FreeTimeTrajectory< T >:

Public Types
typedef T	fixedTimeTrajectory_t
	Fixed point trajectory type. More...

typedef FreeTimeTrajectory< T >	self_t
	Self type. More...

typedef parent_t::interval_t	interval_t
	Import interval type. More...

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

Public Member Functions
	ROBOPTIM_NTIMES_DERIVABLE_FUNCTION_FWD_TYPEDEFS_ (Trajectory< T::derivabilityOrder >)
	Parent type and imports. More...

	FreeTimeTrajectory (const fixedTimeTrajectory_t &traj, value_type s)
	Constructor with fixed definition interval trajectory. More...

	FreeTimeTrajectory (const self_t &traj)

virtual	~FreeTimeTrajectory ()

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

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

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 void	setParameters (const_vector_ref)
	Set parameters. More...

value_type	timeScale () const
	Get time scale factor. More...

size_type	getTimeScalingIndex () const

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

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

const fixedTimeTrajectory_t &	getFixedTimeTrajectory () const

self_t *	resize (interval_t) const
	Clone and resize a trajectory. More...

fixedTimeTrajectory_t *	makeFixedTimeTrajectory () const

double	scaleTime (double t) const
	Scale input time argument. More...

double	unscaleTime (double t) const

jacobian_t	variationConfigWrtParam (StableTimePoint tp) const

jacobian_t	variationDerivWrtParam (StableTimePoint tp, size_type order) const

Public Member Functions inherited from roboptim::trajectory::Trajectory< T::derivabilityOrder >
	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 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

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	impl_compute (result_ref, double) const

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

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

Protected Member Functions inherited from roboptim::trajectory::Trajectory< T::derivabilityOrder >
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())

Additional Inherited Members
Protected Attributes inherited from roboptim::trajectory::Trajectory< T::derivabilityOrder >
interval_t	timeRange_

vector_t	parameters_

size_type	singularPoints_

Detailed Description

template<typename T>
class roboptim::trajectory::FreeTimeTrajectory< T >

Decorate a trajectory to make time scalable.

Build a trajectory from an input trajectory and a time scale factor.

Examples:: spline-time-optimization.cc.

Member Typedef Documentation

template<typename T >

typedef T roboptim::trajectory::FreeTimeTrajectory< T >::fixedTimeTrajectory_t

Fixed point trajectory type.

template<typename T >

typedef parent_t::interval_t roboptim::trajectory::FreeTimeTrajectory< T >::interval_t

Import interval type.

template<typename T >

typedef FreeTimeTrajectory<T> roboptim::trajectory::FreeTimeTrajectory< T >::self_t

Self type.

Constructor & Destructor Documentation

template<typename T >

roboptim::trajectory::FreeTimeTrajectory< T >::FreeTimeTrajectory	(	const fixedTimeTrajectory_t &	traj,
		value_type	s
	)

Constructor with fixed definition interval trajectory.

Parameters

traj	trajectory defining this one by reparameterization
s	time scale

template<typename T >

roboptim::trajectory::FreeTimeTrajectory< T >::FreeTimeTrajectory ( const self_t & traj )

template<typename T >

roboptim::trajectory::FreeTimeTrajectory< T >::~FreeTimeTrajectory ( )

virtual

Member Function Documentation

template<typename T >

FreeTimeTrajectory< T >::vector_t roboptim::trajectory::FreeTimeTrajectory< T >::derivAfterSingularPoint	(	size_type	rank,
		size_type	order
	)		const

virtual

Get right limit value of derivative at given singular point.

Parameters

rank	rank of the singular points.
order	order of derivation.

Return values

derivative Limit of the derivative at singular point for decreasing parameter values.

Implements roboptim::trajectory::Trajectory< T::derivabilityOrder >.

template<typename T >

FreeTimeTrajectory< T >::vector_t roboptim::trajectory::FreeTimeTrajectory< T >::derivBeforeSingularPoint	(	size_type	rank,
		size_type	order
	)		const

virtual

Get left limit value of derivative at given singular point.

Parameters

rank	rank of the singular points.
order	order of derivation.

Returns: Limit of the derivative at singular point for increasing parameter values.

Implements roboptim::trajectory::Trajectory< T::derivabilityOrder >.

template<typename T >

const fixedTimeTrajectory_t& roboptim::trajectory::FreeTimeTrajectory< T >::getFixedTimeTrajectory ( ) const

inline

template<typename T >

size_type roboptim::trajectory::FreeTimeTrajectory< T >::getTimeScalingIndex ( ) const

inline

template<typename T >

void roboptim::trajectory::FreeTimeTrajectory< T >::impl_compute	(	result_ref	res,
		double	t
	)		const

protected

template<typename T >

void roboptim::trajectory::FreeTimeTrajectory< T >::impl_derivative	(	derivative_ref	g,
		double	x,
		size_type	order
	)		const

protected

template<typename T >

void roboptim::trajectory::FreeTimeTrajectory< T >::impl_derivative	(	derivative_ref	g,
		StableTimePoint	stp,
		size_type	order
	)		const

protectedvirtual

Implements roboptim::trajectory::Trajectory< T::derivabilityOrder >.

template<typename T >

fixedTimeTrajectory_t* roboptim::trajectory::FreeTimeTrajectory< T >::makeFixedTimeTrajectory ( ) const

inline

References roboptim::trajectory::Trajectory< T::derivabilityOrder >::timeRange().

template<typename T >

void roboptim::trajectory::FreeTimeTrajectory< T >::normalizeAngles ( size_type index )

virtual

Normalize angles in parameters array.

Make sure angles are continuous.

Parameters

index Angles index in parameter array.

Reimplemented from roboptim::trajectory::Trajectory< T::derivabilityOrder >.

template<typename T >

std::ostream & roboptim::trajectory::FreeTimeTrajectory< T >::print ( std::ostream & o ) const

virtual

Display the function on the specified output stream.

Parameters

o	output stream used for display

Returns: output stream

Reimplemented from roboptim::trajectory::Trajectory< T::derivabilityOrder >.

template<typename T >

self_t* roboptim::trajectory::FreeTimeTrajectory< T >::resize ( interval_t timeRange ) const

inlinevirtual

Clone and resize a trajectory.

Implements roboptim::trajectory::Trajectory< T::derivabilityOrder >.

References roboptim::trajectory::FreeTimeTrajectory< T >::scaleTime(), roboptim::trajectory::Trajectory< dorder >::timeRange(), roboptim::trajectory::Trajectory< T::derivabilityOrder >::timeRange(), and roboptim::trajectory::tMax.

template<typename T >

roboptim::trajectory::FreeTimeTrajectory< T >::ROBOPTIM_NTIMES_DERIVABLE_FUNCTION_FWD_TYPEDEFS_ ( Trajectory< T::derivabilityOrder > )

Parent type and imports.

template<typename T >

double roboptim::trajectory::FreeTimeTrajectory< T >::scaleTime ( double t ) const

Scale input time argument.

Scale input argument with the same factor that the input trajectory:

\[t' = t_{min} + \lambda * (t - t_{min})\]

where \([t_{min}, t_{max}]\) is the input trajectory time range and

\[\lambda\]

the scale factor.

Parameters

t	input time

Returns: new scaled time

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

Referenced by roboptim::trajectory::FreeTimeTrajectory< T >::resize().

template<typename T >

void roboptim::trajectory::FreeTimeTrajectory< T >::setParameters ( const_vector_ref )

virtual

Set parameters.

Parameters

vector_t parameters.

Exceptions

std::runtime_error

Reimplemented from roboptim::trajectory::Trajectory< T::derivabilityOrder >.

Examples:: spline-time-optimization.cc.

References roboptim::trajectory::removeScaleFromParameters(), and roboptim::trajectory::detail::unscaleInterval().

template<typename T >

FreeTimeTrajectory< T >::value_type roboptim::trajectory::FreeTimeTrajectory< T >::singularPointAtRank ( size_type rank ) const

virtual

Get singular point at given rank.

Implements roboptim::trajectory::Trajectory< T::derivabilityOrder >.

template<typename T >

FreeTimeTrajectory< T >::value_type roboptim::trajectory::FreeTimeTrajectory< T >::timeScale ( ) const

Get time scale factor.

Returns: time scale factor.

template<typename T >

double roboptim::trajectory::FreeTimeTrajectory< T >::unscaleTime ( double t ) const

References roboptim::trajectory::detail::fixTime(), and roboptim::trajectory::tMax.

template<typename T >

FreeTimeTrajectory< T >::jacobian_t roboptim::trajectory::FreeTimeTrajectory< T >::variationConfigWrtParam ( double t ) const

virtual

Get the variation of a configuration with respect to parameter vector.

Parameters

t	value \(t\) in the definition interval.

Returns: Jacobian:
\[\frac{\partial\Gamma_{\textbf{p}}(t)}{\partial\textbf{p}}\]

Implements roboptim::trajectory::Trajectory< T::derivabilityOrder >.

template<typename T >

FreeTimeTrajectory< T >::jacobian_t roboptim::trajectory::FreeTimeTrajectory< T >::variationConfigWrtParam ( StableTimePoint tp ) const

virtual

Implements roboptim::trajectory::Trajectory< T::derivabilityOrder >.

template<typename T >

FreeTimeTrajectory< T >::jacobian_t roboptim::trajectory::FreeTimeTrajectory< T >::variationDerivWrtParam	(	double	t,
		size_type	order
	)		const

virtual

Get the variation of a derivative with respect to parameter vector.

Parameters

t	value \(t\) in the definition interval.
order	order \(r\) of the derivative.

Returns: jacobian
\[ \frac{\partial}{\partial\textbf{p}} \left(\frac{d^r\Gamma_{\textbf{p}}}{dt^r}(t)\right) \]

Implements roboptim::trajectory::Trajectory< T::derivabilityOrder >.

template<typename T >

FreeTimeTrajectory< T >::jacobian_t roboptim::trajectory::FreeTimeTrajectory< T >::variationDerivWrtParam	(	StableTimePoint	tp,
		size_type	order
	)		const

virtual

Implements roboptim::trajectory::Trajectory< T::derivabilityOrder >.

Public Types

Public Member Functions

Protected Member Functions

Additional Inherited Members

Detailed Description

template<typename T> class roboptim::trajectory::FreeTimeTrajectory< T >

Member Typedef Documentation

Constructor & Destructor Documentation

Member Function Documentation

template<typename T>
class roboptim::trajectory::FreeTimeTrajectory< T >