Takes a vector or argument and differentiate it. More...

#include <roboptim/trajectory/vector-interpolation.hh>

Inheritance diagram for roboptim::trajectory::VectorInterpolation:

Public Types
typedef boost::shared_ptr < VectorInterpolation >	VectorInterpolationShPtr_t

Public Types inherited from roboptim::trajectory::Trajectory< 3 >
typedef parent_t::interval_t	interval_t
	Import interval type. More...

Public Member Functions
	ROBOPTIM_NTIMES_DERIVABLE_FUNCTION_FWD_TYPEDEFS (Trajectory< 3 >)

	ROBOPTIM_IMPLEMENT_CLONE (VectorInterpolation)

	VectorInterpolation (const_vector_ref x, size_type outputSize, value_type dt)
	Vector interpolation constructor. More...

	~VectorInterpolation ()

	VectorInterpolation (const VectorInterpolation &vi)

void	setParameters (const_vector_ref)
	Store parameters and update coefficients. More...

size_type	numFrames () const

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

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

value_type	singularPointAtRank (size_type rank) const
	Get singular point at given rank. More...

vector_t	derivBeforeSingularPoint (size_type rank, size_type order) const
	Get left limit value of derivative at given singular point. More...

vector_t	derivAfterSingularPoint (size_type rank, size_type order) const
	Get right limit value of derivative at given singular point. More...

jacobian_t	variationConfigWrtParam (StableTimePoint tp) const

jacobian_t	variationDerivWrtParam (StableTimePoint tp, size_type order) const

boost::shared_ptr < VectorInterpolation >	trim (size_type start, size_type length) const
	Instantiate a trajectory corresponding to a sub-part of this trajectory. More...

Public Member Functions inherited from roboptim::trajectory::Trajectory< 3 >
	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 void	normalizeAngles (size_type index)
	Normalize angles in parameters array. More...

virtual Trajectory < DerivabilityOrder > *	clone () const =0

virtual std::ostream &	print (std::ostream &) const

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 result, double t) const

void	impl_derivative (derivative_ref derivative, double argument, size_type order=1) const

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

Trajectory< 3 > *	resize (interval_t timeRange) const
	Clone and resize a trajectory. More...

Protected Member Functions inherited from roboptim::trajectory::Trajectory< 3 >
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< 3 >
interval_t	timeRange_

vector_t	parameters_

size_type	singularPoints_

Detailed Description

Takes a vector or argument and differentiate it.

It is common to have an optimization vector where a pattern is repeated:

[x_0^0 ... x_N^0 ... x_0^M x_N^M]

The pattern is here of length N and repeated M times.

By using numerical interpolation, it is possible to differentiate this pattern.

A classical example are trajectories.

Member Typedef Documentation

typedef boost::shared_ptr<VectorInterpolation> roboptim::trajectory::VectorInterpolation::VectorInterpolationShPtr_t

Constructor & Destructor Documentation

roboptim::trajectory::VectorInterpolation::VectorInterpolation	(	const_vector_ref	x,
		size_type	outputSize,
		value_type	dt
	)

inlineexplicit

Vector interpolation constructor.

Exceptions

std::runtime_error

roboptim::trajectory::VectorInterpolation::~VectorInterpolation ( )

inline

roboptim::trajectory::VectorInterpolation::VectorInterpolation ( const VectorInterpolation & vi )

inline

References roboptim::trajectory::Trajectory< dorder >::parameters(), and setParameters().

Member Function Documentation

VectorInterpolation::vector_t roboptim::trajectory::VectorInterpolation::derivAfterSingularPoint	(	size_type	rank,
		size_type	order
	)		const

inlinevirtual

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< 3 >.

VectorInterpolation::vector_t roboptim::trajectory::VectorInterpolation::derivBeforeSingularPoint	(	size_type	rank,
		size_type	order
	)		const

inlinevirtual

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< 3 >.

void roboptim::trajectory::VectorInterpolation::impl_compute	(	result_ref	result,
		double	t
	)		const

inlineprotected

void roboptim::trajectory::VectorInterpolation::impl_derivative	(	derivative_ref	derivative,
		double	argument,
		size_type	order = `1`
	)		const

inlineprotected

References roboptim::trajectory::Trajectory< 3 >::operator()(), and roboptim::trajectory::Trajectory< 3 >::parameters().

Referenced by impl_derivative().

void roboptim::trajectory::VectorInterpolation::impl_derivative	(	derivative_ref	g,
		StableTimePoint	stp,
		size_type	order
	)		const

inlineprotectedvirtual

Implements roboptim::trajectory::Trajectory< 3 >.

References roboptim::trajectory::StableTimePoint::getTime(), and impl_derivative().

VectorInterpolation::size_type roboptim::trajectory::VectorInterpolation::numFrames ( ) const

inline

References roboptim::trajectory::Trajectory< 3 >::parameters().

Referenced by trim().

Trajectory< 3 > * roboptim::trajectory::VectorInterpolation::resize ( interval_t timeRange ) const

inlineprotectedvirtual

Clone and resize a trajectory.

Implements roboptim::trajectory::Trajectory< 3 >.

roboptim::trajectory::VectorInterpolation::ROBOPTIM_IMPLEMENT_CLONE ( VectorInterpolation )

roboptim::trajectory::VectorInterpolation::ROBOPTIM_NTIMES_DERIVABLE_FUNCTION_FWD_TYPEDEFS ( Trajectory< 3 > )

void roboptim::trajectory::VectorInterpolation::setParameters ( const_vector_ref x )

inlinevirtual

Store parameters and update coefficients.

Parameters

vector_t vector of parameters.

Exceptions

std::runtime_error

Reimplemented from roboptim::trajectory::Trajectory< 3 >.

References roboptim::trajectory::Trajectory< 3 >::parameters(), roboptim::trajectory::Trajectory< dorder >::setParameters(), and roboptim::trajectory::Trajectory< 3 >::singularPoints_.

Referenced by VectorInterpolation().

VectorInterpolation::value_type roboptim::trajectory::VectorInterpolation::singularPointAtRank ( size_type rank ) const

inlinevirtual

Get singular point at given rank.

Implements roboptim::trajectory::Trajectory< 3 >.

boost::shared_ptr< VectorInterpolation > roboptim::trajectory::VectorInterpolation::trim	(	size_type	start,
		size_type	length
	)		const

inline

Instantiate a trajectory corresponding to a sub-part of this trajectory.

This function can be called to exclude some frames at the beginning and/or the end of the trajectory.

Parameters

[in]	start	starting frame (0 is the first frame)
[out]	length	length of the output trajectory (0 means maximum length)

Returns: build sub-trajectory (data are copied)

References numFrames(), and roboptim::trajectory::Trajectory< 3 >::parameters().

VectorInterpolation::jacobian_t roboptim::trajectory::VectorInterpolation::variationConfigWrtParam ( double t ) const

inlinevirtual

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< 3 >.

References variationDerivWrtParam().

VectorInterpolation::jacobian_t roboptim::trajectory::VectorInterpolation::variationConfigWrtParam ( StableTimePoint tp ) const

inlinevirtual

Implements roboptim::trajectory::Trajectory< 3 >.

References variationDerivWrtParam().

VectorInterpolation::jacobian_t roboptim::trajectory::VectorInterpolation::variationDerivWrtParam	(	double	t,
		size_type	order
	)		const

inlinevirtual

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< 3 >.

References roboptim::trajectory::Trajectory< 3 >::parameters().

Referenced by variationConfigWrtParam().

VectorInterpolation::jacobian_t roboptim::trajectory::VectorInterpolation::variationDerivWrtParam	(	StableTimePoint	tp,
		size_type	order
	)		const

inlinevirtual

Implements roboptim::trajectory::Trajectory< 3 >.

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

Public Types

Public Member Functions

Protected Member Functions

Additional Inherited Members

Detailed Description

Member Typedef Documentation

Constructor & Destructor Documentation

Member Function Documentation