Approximate the length of a Spline. More...

#include <roboptim/trajectory/spline-length.hh>

Inheritance diagram for roboptim::trajectory::SplineLength:

Public Member Functions
	SplineLength (const CubicBSpline &spline, const size_type nDiscretizationPoints=100, boost::optional< interval_t > interval=boost::none)
	Construct the function from a Spline and a definition interval. More...

virtual	~SplineLength ()

Public Member Functions inherited from roboptim::trajectory::TrajectoryCost< CubicBSpline >
	TrajectoryCost (const trajectory_t &traj, std::string name=std::string())
	Concret class should call this constructor. More...

virtual	~TrajectoryCost ()

Protected Member Functions
void	impl_compute (result_ref, const_argument_ref) const

void	impl_gradient (gradient_ref, const_argument_ref, size_type) const

Additional Inherited Members
Public Types inherited from roboptim::trajectory::TrajectoryCost< CubicBSpline >
typedef CubicBSpline	trajectory_t
	Trajectory type. More...

Protected Attributes inherited from roboptim::trajectory::TrajectoryCost< CubicBSpline >
const trajectory_t &	trajectory_
	Input trajectory. More...

Detailed Description

Approximate the length of a Spline.

The length is computed using:

\[\frac{1}{2} \int_{t_{min}}^{t_{max}} ||\ddot{\Gamma_p(t)}||^2 dt\]

\(t_{min}\) and \(t_{max}\) are given when the object is instantiated.

Public Member Functions