roboptim::trajectory::JerkOverSplinesFactory< S, T > Class Template Reference

Factory generating a jerk cost function over a vector of splines. More...

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

Public Types
typedef S	spline_t
typedef boost::shared_ptr < spline_t >	splinePtr_t
typedef GenericNumericQuadraticFunction < T >	numericQuadraticFunction_t
typedef boost::shared_ptr < numericQuadraticFunction_t >	numericQuadraticFunctionPtr_t
typedef numericQuadraticFunction_t::size_type	size_type
typedef numericQuadraticFunction_t::value_type	value_type
typedef numericQuadraticFunction_t::interval_t	interval_t
typedef numericQuadraticFunction_t::vector_t	vector_t
typedef numericQuadraticFunction_t::matrix_t	matrix_t

Public Member Functions
	JerkOverSplinesFactory (const std::vector< splinePtr_t > &splines, const interval_t &range, value_type scaling=-1.)
	Constructor. More...
void	updateRange (const interval_t &range)
	Updates the time range on which we do the optimization. More...
numericQuadraticFunctionPtr_t	getJerk ()
	Retrieves the cost function. More...

Protected Member Functions
value_type	chooseScaling () const
	Try to find a "good" scaling factor. More...

Detailed Description

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

Factory generating a jerk cost function over a vector of splines.

Template Parameters

S	spline type.
T	matrix type.

Member Typedef Documentation

template<typename S, typename T>

typedef numericQuadraticFunction_t::interval_t roboptim::trajectory::JerkOverSplinesFactory< S, T >::interval_t

template<typename S, typename T>

typedef numericQuadraticFunction_t::matrix_t roboptim::trajectory::JerkOverSplinesFactory< S, T >::matrix_t

template<typename S, typename T>

typedef GenericNumericQuadraticFunction<T> roboptim::trajectory::JerkOverSplinesFactory< S, T >::numericQuadraticFunction_t

template<typename S, typename T>

typedef boost::shared_ptr<numericQuadraticFunction_t> roboptim::trajectory::JerkOverSplinesFactory< S, T >::numericQuadraticFunctionPtr_t

template<typename S, typename T>

typedef numericQuadraticFunction_t::size_type roboptim::trajectory::JerkOverSplinesFactory< S, T >::size_type

template<typename S, typename T>

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

template<typename S, typename T>

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

template<typename S, typename T>

typedef numericQuadraticFunction_t::value_type roboptim::trajectory::JerkOverSplinesFactory< S, T >::value_type

template<typename S, typename T>

typedef numericQuadraticFunction_t::vector_t roboptim::trajectory::JerkOverSplinesFactory< S, T >::vector_t

Constructor & Destructor Documentation

template<typename S , typename T >

roboptim::trajectory::JerkOverSplinesFactory< S, T >::JerkOverSplinesFactory	(	const std::vector< splinePtr_t > &	splines,
		const interval_t &	range,
		value_type	scaling = -1.
	)

Constructor.

Parameters

splines	vector of splines.
range	time interval on which the jerk is computed.
scaling	scaling factor.

Member Function Documentation

template<typename S , typename T >

JerkOverSplinesFactory< S, T >::value_type roboptim::trajectory::JerkOverSplinesFactory< S, T >::chooseScaling ( ) const

protected

Try to find a "good" scaling factor.

template<typename S , typename T >

JerkOverSplinesFactory< S, T >::numericQuadraticFunctionPtr_t roboptim::trajectory::JerkOverSplinesFactory< S, T >::getJerk

(

)

Retrieves the cost function.

template<typename S , typename T >

void roboptim::trajectory::JerkOverSplinesFactory< S, T >::updateRange

(

const interval_t &

range

)

Updates the time range on which we do the optimization.