roboptim::trajectory Namespace Reference

Namespaces
namespace	detail
namespace	visualization

Classes
class	AnthropomorphicCostFunction
	Cost function from ``An optimal control model unifying holonomic and nonholonomic walking'' Katja Mombaur, Jean-Paul Laumond, Eiichi Yoshida (2008 8th IEEE-RAS Interational Conference on Humanoid Robots). More...
class	BSpline
class	ConstrainedBSpline
	Constrained B-spline. More...
class	ConstraintsOverSplines
	Constraint function on a spline's interval. More...
class	CubicBSpline
	Cubic B-Spline trajectory. More...
class	FreeTimeTrajectory
	Decorate a trajectory to make time scalable. More...
class	Freeze
	Freeze parameters by modifying argument bounds. More...
class	FrontalSpeed
class	Trajectory
	Abstract trajectory. More...
class	StateFunction
	Trajectory cost function defined by state evaluation at parameter. More...
class	SumCost
class	TrajectoryCost
	Meta-function for trajectory cost. More...
class	JerkOverSplinesFactory
	Factory generating a jerk cost function over a vector of splines. More...
class	LimitOmega
class	LimitSpeed
class	OrthogonalSpeed
class	Polynomial
	Polynomial of degree at most N (N >= 0). More...
struct	Monomial
	Monomial \[ M (t) = t-t_0 \] . More...
class	ProblemOverSplinesFactory
	Factory of problems over splines. More...
class	SplineLength
	Approximate the length of a Spline. More...
class	StablePointStateFunction
	Trajectory cost function defined by state evaluation at parameter. More...
class	TMax
class	StableTimePoint
class	TrajectorySumCost
	Trajectory cost function defined by sum of state evaluations at parameters. More...
class	VectorInterpolation
	Takes a vector or argument and differentiate it. More...

Typedefs
typedef Polynomial< 3 >	Polynomial3
	Polynomial of degree at most 3. More...
typedef Monomial< 3 >	Monomial3
	Monomial3 \[ M (t) = t-t_0 \] . More...

Functions
Function::vector_t	addScaleToParameters (Function::const_vector_ref p, Function::value_type t=1.)
Function::vector_t	removeScaleFromParameters (Function::const_vector_ref v)
template<typename P >
Freeze< P >	makeFreeze (P &problem)
template<int N>
std::ostream &	operator<< (std::ostream &stream, const Polynomial< N > &p)
	Print a polynomial to a given output stream. More...
template<int N>
Polynomial< N >	operator* (typename Polynomial< N >::value_type lambda, const Polynomial< N > &poly)
StableTimePoint	operator* (Function::value_type alpha, TMax)
StableTimePoint	operator* (TMax, Function::value_type alpha)
boost::shared_ptr < VectorInterpolation >	vectorInterpolation (VectorInterpolation::vector_t x, VectorInterpolation::size_type outputSize, VectorInterpolation::value_type dt=1.)

Variables
static const TMax	tMax = TMax ()

Typedef Documentation

typedef Monomial<3> roboptim::trajectory::Monomial3

Monomial3

\[ M (t) = t-t_0 \]

.

typedef Polynomial<3> roboptim::trajectory::Polynomial3

Polynomial of degree at most 3.

\[ P (t) = \sum_{i=0}^{3} a_i (t-t_0)^i \]

Function Documentation

Function::vector_t roboptim::trajectory::addScaleToParameters ( Function::const_vector_ref  p, Function::value_type  t = 1.  )

inline

template<typename P >

Freeze<P> roboptim::trajectory::makeFreeze

(

P &

problem

)

StableTimePoint roboptim::trajectory::operator* ( Function::value_type  alpha, TMax    )

inline

StableTimePoint roboptim::trajectory::operator* ( TMax  , Function::value_type  alpha  )

inline

template<int N>

Polynomial< N > roboptim::trajectory::operator*	(	typename Polynomial< N >::value_type	lambda,
		const Polynomial< N > &	poly
	)

template<int N>

std::ostream & roboptim::trajectory::operator<<	(	std::ostream &	stream,
		const Polynomial< N > &	p
	)

Print a polynomial to a given output stream.

Template Parameters

N	polynomial degree.

Parameters

o	output stream.
p	polynomial.

Returns

output stream.

Function::vector_t roboptim::trajectory::removeScaleFromParameters ( Function::const_vector_ref  v )

inline

Referenced by roboptim::trajectory::FreeTimeTrajectory< T >::setParameters().

boost::shared_ptr<VectorInterpolation> roboptim::trajectory::vectorInterpolation ( VectorInterpolation::vector_t  x, VectorInterpolation::size_type  outputSize, VectorInterpolation::value_type  dt = 1.  )

inline

Variable Documentation

const TMax roboptim::trajectory::tMax = TMax ()

static

Referenced by roboptim::trajectory::LimitOmega< T >::addToProblem(), roboptim::trajectory::StablePointStateFunction< T >::addToProblem(), roboptim::trajectory::StateFunction< T >::addToProblem(), roboptim::trajectory::LimitSpeed< T >::addToProblem(), roboptim::trajectory::visualization::gnuplot::detail::PlotLimitSpeed< T >::operator()(), roboptim::trajectory::visualization::gnuplot::plot_speeds(), roboptim::trajectory::visualization::gnuplot::plot_xy(), roboptim::trajectory::visualization::gnuplot::plot_xytheta(), roboptim::trajectory::FreeTimeTrajectory< T >::resize(), and roboptim::trajectory::FreeTimeTrajectory< T >::unscaleTime().