roboptim::trajectory::Trajectory< dorder > Class Template Reference

Abstract trajectory. More...

#include <roboptim/trajectory/trajectory.hh>

Inheritance diagram for roboptim::trajectory::Trajectory< dorder >:

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

Public Member Functions
	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
virtual jacobian_t	variationConfigWrtParam (StableTimePoint tp) const =0
virtual jacobian_t	variationDerivWrtParam (StableTimePoint tp, size_type order) const =0
bool	isValidTime (value_type t) const
virtual void	normalizeAngles (size_type index)
	Normalize angles in parameters array. More...
virtual Trajectory < DerivabilityOrder > *	clone () const =0
virtual Trajectory < DerivabilityOrder > *	resize (interval_t timeRange) const =0
	Clone and resize a trajectory. More...
virtual std::ostream &	print (std::ostream &) const
Accessing parameters, and state.
const vector_t &	parameters () const
virtual void	setParameters (const_vector_ref)
	Set parameters. More...
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
Accessing parameters and gradients
virtual jacobian_t	variationConfigWrtParam (double t) const =0
	Get the variation of a configuration with respect to parameter vector. More...
virtual jacobian_t	variationDerivWrtParam (double t, size_type order) const =0
	Get the variation of a derivative with respect to parameter vector. More...
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
Singular points
size_type	singularPoints () const
	Get number of singular points. More...
virtual value_type	singularPointAtRank (size_type rank) const =0
	Get singular point at given rank. More...
virtual vector_t	derivBeforeSingularPoint (size_type rank, size_type order) const =0
	Get left limit value of derivative at given singular point. More...
virtual vector_t	derivAfterSingularPoint (size_type rank, size_type order) const =0
	Get right limit value of derivative at given singular point. More...
Tolerance for inclusion of parameter in interval of definition.
Set tolerance for inclusion of parameter in interval of definition.
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, StableTimePoint) const
virtual void	impl_derivative (derivative_ref g, StableTimePoint, size_type order) const =0
	Trajectory (interval_t, size_type, const vector_t &, std::string name=std::string())
virtual void	normalizeAngles (size_type index, size_type offset)
	Internal version of normalizeAngles allowing an optional offset. More...

Protected Attributes
interval_t	timeRange_
vector_t	parameters_
size_type	singularPoints_

Detailed Description

template<unsigned dorder>
class roboptim::trajectory::Trajectory< dorder >

Abstract trajectory.

A trajectory is a piecewise smooth mapping \(\Gamma\) from

• the Cartesian product of a definition interval and a vector space of parameters \(\textbf{R}^m\)
• to a vector space \(\textbf{R}^n\):

  \[ \begin{array}{llll} \Gamma: & [t_{min}, t_{max}] \times \textbf{R}^m & \rightarrow & \textbf{R}^n \\ & (t, \textbf{p}) & \rightarrow & \Gamma_{\textbf{p}}(t) \end{array} \]

  Template Parameters

  DerivabilityOrder

  derivability order

Member Typedef Documentation

template<unsigned dorder>

typedef parent_t::interval_t roboptim::trajectory::Trajectory< dorder >::interval_t

Import interval type.

Constructor & Destructor Documentation

template<unsigned dorder>

roboptim::trajectory::Trajectory< dorder >::~Trajectory ( )

virtual

template<unsigned dorder>

roboptim::trajectory::Trajectory< dorder >::Trajectory ( interval_t  tr, size_type  outputSize, const vector_t &  p, std::string  name = std::string ()  )

protected

Member Function Documentation

template<unsigned dorder>

virtual Trajectory<DerivabilityOrder>* roboptim::trajectory::Trajectory< dorder >::clone ( ) const

pure virtual

template<unsigned dorder>

virtual vector_t roboptim::trajectory::Trajectory< dorder >::derivAfterSingularPoint ( size_type  rank, size_type  order  ) const

pure 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.

Implemented in roboptim::trajectory::BSpline< N >, roboptim::trajectory::CubicBSpline, roboptim::trajectory::FreeTimeTrajectory< T >, and roboptim::trajectory::VectorInterpolation.

template<unsigned dorder>

derivative_t roboptim::trajectory::Trajectory< dorder >::derivative ( StableTimePoint  argument, size_type  order = 1  ) const

inline

Referenced by roboptim::trajectory::Trajectory< T::derivabilityOrder >::derivative().

template<unsigned dorder>

void roboptim::trajectory::Trajectory< dorder >::derivative ( derivative_ref  derivative, StableTimePoint  argument, size_type  order = 1  ) const

inline

template<unsigned dorder>

virtual vector_t roboptim::trajectory::Trajectory< dorder >::derivBeforeSingularPoint ( size_type  rank, size_type  order  ) const

pure 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.

Implemented in roboptim::trajectory::BSpline< N >, roboptim::trajectory::CubicBSpline, roboptim::trajectory::FreeTimeTrajectory< T >, and roboptim::trajectory::VectorInterpolation.

template<unsigned dorder>

void roboptim::trajectory::Trajectory< dorder >::impl_compute ( result_ref  res, StableTimePoint  stp  ) const

protected

References roboptim::trajectory::StableTimePoint::getTime().

Referenced by roboptim::trajectory::Trajectory< T::derivabilityOrder >::operator()().

template<unsigned dorder>

virtual void roboptim::trajectory::Trajectory< dorder >::impl_derivative ( derivative_ref  g, StableTimePoint  , size_type  order  ) const

protectedpure virtual

Implemented in roboptim::trajectory::CubicBSpline, roboptim::trajectory::BSpline< N >, roboptim::trajectory::FreeTimeTrajectory< T >, and roboptim::trajectory::VectorInterpolation.

Referenced by roboptim::trajectory::Trajectory< T::derivabilityOrder >::derivative().

template<unsigned dorder>

bool roboptim::trajectory::Trajectory< dorder >::isValidTime

(

value_type

t

)

const

template<unsigned dorder>

Trajectory< dorder >::value_type roboptim::trajectory::Trajectory< dorder >::length

(

)

const

template<unsigned dorder>

void roboptim::trajectory::Trajectory< dorder >::normalizeAngles ( size_type  index )

virtual

Normalize angles in parameters array.

Make sure angles are continuous.

Parameters

index

Angles index in parameter array.

Reimplemented in roboptim::trajectory::FreeTimeTrajectory< T >.

template<unsigned dorder>

void roboptim::trajectory::Trajectory< dorder >::normalizeAngles ( size_type  index, size_type  offset  )

protectedvirtual

Internal version of normalizeAngles allowing an optional offset.

Used to factorize code between trajectories and free time trajectories.

Parameters

index	Angles index in parameter array.
offset	Index of the first control point in the parameter vector.

template<unsigned dorder>

result_t roboptim::trajectory::Trajectory< dorder >::operator() ( StableTimePoint  argument ) const

inline

template<unsigned dorder>

void roboptim::trajectory::Trajectory< dorder >::operator() ( result_ref  result, StableTimePoint  argument  ) const

inline

template<unsigned dorder>

const Trajectory< dorder >::vector_t & roboptim::trajectory::Trajectory< dorder >::parameters

(

)

const

Referenced by roboptim::trajectory::CubicBSpline::CubicBSpline(), roboptim::trajectory::CubicBSpline::operator+(), roboptim::trajectory::CubicBSpline::operator+=(), roboptim::trajectory::visualization::matplotlib::plot_spline(), and roboptim::trajectory::VectorInterpolation::VectorInterpolation().

template<unsigned dorder>

std::ostream & roboptim::trajectory::Trajectory< dorder >::print ( std::ostream &  o ) const

virtual

Reimplemented in roboptim::trajectory::BSpline< N >, roboptim::trajectory::CubicBSpline, and roboptim::trajectory::FreeTimeTrajectory< T >.

template<unsigned dorder>

virtual Trajectory<DerivabilityOrder>* roboptim::trajectory::Trajectory< dorder >::resize ( interval_t  timeRange ) const

pure virtual

Clone and resize a trajectory.

Implemented in roboptim::trajectory::BSpline< N >, roboptim::trajectory::FreeTimeTrajectory< T >, roboptim::trajectory::CubicBSpline, roboptim::trajectory::VectorInterpolation, and roboptim::trajectory::ConstrainedBSpline< N >.

template<unsigned dorder>

roboptim::trajectory::Trajectory< dorder >::ROBOPTIM_NTIMES_DERIVABLE_FUNCTION_FWD_TYPEDEFS_

(

NTimesDerivableFunction< DerivabilityOrder >

)

Parent type and imports.

template<unsigned dorder>

void roboptim::trajectory::Trajectory< dorder >::setParameters ( const_vector_ref  p )

virtual

Set parameters.

Parameters

vector_t

parameters.

Exceptions

std::runtime_error

Reimplemented in roboptim::trajectory::BSpline< N >, roboptim::trajectory::CubicBSpline, roboptim::trajectory::ConstrainedBSpline< N >, roboptim::trajectory::FreeTimeTrajectory< T >, and roboptim::trajectory::VectorInterpolation.

Referenced by roboptim::trajectory::VectorInterpolation::setParameters().

template<unsigned dorder>

virtual value_type roboptim::trajectory::Trajectory< dorder >::singularPointAtRank ( size_type  rank ) const

pure virtual

Get singular point at given rank.

Implemented in roboptim::trajectory::BSpline< N >, roboptim::trajectory::CubicBSpline, roboptim::trajectory::FreeTimeTrajectory< T >, and roboptim::trajectory::VectorInterpolation.

template<unsigned dorder>

Trajectory< dorder >::size_type roboptim::trajectory::Trajectory< dorder >::singularPoints

(

)

const

Get number of singular points.

template<unsigned dorder>

Trajectory< dorder >::vector_t roboptim::trajectory::Trajectory< dorder >::state ( double  t, size_type  order  ) const

virtual

Get state along trajectory.

Parameters

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

Returns

the state defined as the vector containing the config and first derivatives:

\[ \textbf{X}(t) = \left(\Gamma_{\textbf{p}}(t), \frac{d\Gamma_{\textbf{p}}}{dt}(t),\cdots, \frac{d^{r}\Gamma_{\textbf{p}}}{dt^{r}}(t)\right) \]

The configuration and derivatives are concatenated in one vector.

template<unsigned dorder>

Trajectory< dorder >::vector_t roboptim::trajectory::Trajectory< dorder >::state ( StableTimePoint  t, size_type  order  ) const

virtual

template<unsigned dorder>

Trajectory< dorder >::interval_t roboptim::trajectory::Trajectory< dorder >::timeRange

(

)

const

Referenced by roboptim::trajectory::CubicBSpline::operator+(), roboptim::trajectory::CubicBSpline::operator+=(), roboptim::trajectory::visualization::gnuplot::plot_limitSpeed(), roboptim::trajectory::visualization::matplotlib::plot_spline(), roboptim::trajectory::visualization::gnuplot::plot_xy(), roboptim::trajectory::FreeTimeTrajectory< T >::resize(), and roboptim::trajectory::detail::unscaleInterval().

template<unsigned dorder>

void roboptim::trajectory::Trajectory< dorder >::tolerance

(

const double &

tolerance

)

template<unsigned dorder>

double roboptim::trajectory::Trajectory< dorder >::tolerance

(

)

const

Get tolerance for inclusion of parameter in interval of definition.

template<unsigned dorder>

virtual jacobian_t roboptim::trajectory::Trajectory< dorder >::variationConfigWrtParam ( double  t ) const

pure virtual

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

Parameters

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

Returns

Jacobian:

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

Implemented in roboptim::trajectory::FreeTimeTrajectory< T >, and roboptim::trajectory::VectorInterpolation.

template<unsigned dorder>

virtual jacobian_t roboptim::trajectory::Trajectory< dorder >::variationConfigWrtParam ( StableTimePoint  tp ) const

pure virtual

Implemented in roboptim::trajectory::FreeTimeTrajectory< T >, roboptim::trajectory::BSpline< N >, roboptim::trajectory::CubicBSpline, and roboptim::trajectory::VectorInterpolation.

template<unsigned dorder>

virtual jacobian_t roboptim::trajectory::Trajectory< dorder >::variationDerivWrtParam ( double  t, size_type  order  ) const

pure 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

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

Implemented in roboptim::trajectory::ConstrainedBSpline< N >, roboptim::trajectory::FreeTimeTrajectory< T >, and roboptim::trajectory::VectorInterpolation.

template<unsigned dorder>

virtual jacobian_t roboptim::trajectory::Trajectory< dorder >::variationDerivWrtParam ( StableTimePoint  tp, size_type  order  ) const

pure virtual

Implemented in roboptim::trajectory::FreeTimeTrajectory< T >, roboptim::trajectory::BSpline< N >, roboptim::trajectory::CubicBSpline, and roboptim::trajectory::VectorInterpolation.

template<unsigned dorder>

Trajectory< dorder >::jacobian_t roboptim::trajectory::Trajectory< dorder >::variationStateWrtParam	(	double	t,
		size_type	order
	)		const

Get the variation of the state with respect to parameter vector.

Parameters

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

Returns

jacobian

\[ \left(\begin{array}{c}\frac{\partial}{\partial \lambda} \Gamma_{\textbf{p}}(t) \\ \vdots \\ \frac{\partial}{\partial \lambda}\frac{d\Gamma_{\textbf{p}}^r}{dt^r}(t) \end{array}\right) \]

template<unsigned dorder>

Trajectory< dorder >::jacobian_t roboptim::trajectory::Trajectory< dorder >::variationStateWrtParam	(	StableTimePoint	stp,
		size_type	order
	)		const

Member Data Documentation

template<unsigned dorder>

vector_t roboptim::trajectory::Trajectory< dorder >::parameters_

protected

template<unsigned dorder>

size_type roboptim::trajectory::Trajectory< dorder >::singularPoints_

protected

template<unsigned dorder>

interval_t roboptim::trajectory::Trajectory< dorder >::timeRange_

protected