Mathematical functions

B-Spline trajectory. More...

Classes
class	roboptim::trajectory::BSpline< N >
class	roboptim::trajectory::ConstrainedBSpline< N >
	Constrained B-spline. More...
class	roboptim::trajectory::CubicBSpline
	Cubic B-Spline trajectory. More...
class	roboptim::trajectory::FreeTimeTrajectory< T >
	Decorate a trajectory to make time scalable. More...
class	roboptim::trajectory::SplineLength
	Approximate the length of a Spline. More...

Functions
	roboptim::trajectory::SplineLength::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	roboptim::trajectory::SplineLength::~SplineLength ()
void	roboptim::trajectory::SplineLength::impl_compute (result_ref, const_argument_ref) const
void	roboptim::trajectory::SplineLength::impl_gradient (gradient_ref, const_argument_ref, size_type) const

Variables
static log4cxx::LoggerPtr	roboptim::trajectory::BSpline< N >::logger
	Pointer to B-spline logger (see log4cxx documentation). More...

Detailed Description

B-Spline trajectory.

Implement a B-Spline as a trajectory based in doc/quintic-b-spline.tex The template parameter N determines the order of the spline.

Function Documentation

void roboptim::trajectory::SplineLength::impl_compute ( result_ref  res, const_argument_ref  p  ) const

protected

ROBOPTIM_DO_NOT_CHECK_ALLOCATION

ROBOPTIM_DO_NOT_CHECK_ALLOCATION

References roboptim::trajectory::CubicBSpline::setParameters(), and roboptim::trajectory::TrajectoryCost< CubicBSpline >::trajectory_.

void roboptim::trajectory::SplineLength::impl_gradient ( gradient_ref  , const_argument_ref  , size_type     ) const

protected

ROBOPTIM_DO_NOT_CHECK_ALLOCATION

ROBOPTIM_DO_NOT_CHECK_ALLOCATION

References roboptim::trajectory::CubicBSpline::setParameters(), and roboptim::trajectory::TrajectoryCost< CubicBSpline >::trajectory_.

roboptim::trajectory::SplineLength::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.

The interval allows to only compute the length of the Spline on a specific interval. The step associated to the interval controls the approximation precision.

Parameters

spline	spline used for length computation
interval	interval on which the length is computed.
nDiscretizationPoints	number of discretization points

roboptim::trajectory::SplineLength::~SplineLength ( )

virtual

Variable Documentation

template<int N>

log4cxx::LoggerPtr roboptim::trajectory::BSpline< N >::logger

staticprotected

Pointer to B-spline logger (see log4cxx documentation).

LOG4CXX logger for B-splines.

Template Parameters

N	order of the B-Spline.

Returns

logger.