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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
Sspline type.
Tmatrix 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
splinesvector of splines.
rangetime interval on which the jerk is computed.
scalingscaling 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.