Decorate a trajectory to make time scalable. More...

#include <roboptim/trajectory/free-time-trajectory.hh>

Inheritance diagram for roboptim::trajectory::FreeTimeTrajectory< T >:

Public Types
typedef T	fixedTimeTrajectory_t
	Fixed point trajectory type.
typedef FreeTimeTrajectory< T >	self_t
	Self type.
typedef parent_t::interval_t	interval_t
	Import interval type.
Public Member Functions
	ROBOPTIM_DIFFERENTIABLE_FUNCTION_FWD_TYPEDEFS_ (Trajectory< T::derivabilityOrder >)
	Parent type and imports.
	FreeTimeTrajectory (const fixedTimeTrajectory_t &traj, value_type s)
	Constructor with fixed definition interval trajectory.
	FreeTimeTrajectory (const self_t &traj)
virtual	~FreeTimeTrajectory ()
virtual jacobian_t	variationConfigWrtParam (double t) const
	Get the variation of a configuration with respect to parameter vector.
virtual jacobian_t	variationDerivWrtParam (double t, size_type order) const
	Get the variation of a derivative with respect to parameter vector.
virtual value_type	singularPointAtRank (size_type rank) const
	Get singular point at given rank.
virtual vector_t	derivBeforeSingularPoint (size_type rank, size_type order) const
	Get left limit value of derivative at given singular point.
virtual vector_t	derivAfterSingularPoint (size_type rank, size_type order) const
	Get right limit value of derivative at given singular point.
virtual void	setParameters (const vector_t &)
	Set parameters.
value_type	timeScale () const
	Get time scale factor.
size_type	getTimeScalingIndex () const
virtual std::ostream &	print (std::ostream &o) const
	Display the function on the specified output stream.
virtual void	normalizeAngles (size_type index)
	Normalize angles in parameters array.
const fixedTimeTrajectory_t &	getFixedTimeTrajectory () const
self_t *	resize (interval_t) const
	Clone and resize a trajectory.
fixedTimeTrajectory_t *	makeFixedTimeTrajectory () const
double	scaleTime (double t) const
	Scale input time argument.
double	unscaleTime (double t) const
jacobian_t	variationConfigWrtParam (StableTimePoint tp) const
jacobian_t	variationDerivWrtParam (StableTimePoint tp, size_type order) const
Protected Member Functions
void	impl_compute (result_ref, double) const
void	impl_derivative (gradient_ref g, double x, size_type order) const
void	impl_derivative (gradient_ref g, StableTimePoint, size_type order) const

Detailed Description

template<typename T>
class roboptim::trajectory::FreeTimeTrajectory< T >

Decorate a trajectory to make time scalable.

Build a trajectory from an input trajectory and a time scale factor.

Examples:: spline-time-optimization.cc.

Member Typedef Documentation

template<typename T >

typedef T roboptim::trajectory::FreeTimeTrajectory< T >::fixedTimeTrajectory_t

Fixed point trajectory type.

template<typename T >

typedef parent_t::interval_t roboptim::trajectory::FreeTimeTrajectory< T >::interval_t

Import interval type.

Reimplemented from roboptim::trajectory::Trajectory< T::derivabilityOrder >.

template<typename T >

typedef FreeTimeTrajectory<T> roboptim::trajectory::FreeTimeTrajectory< T >::self_t

Self type.

Constructor & Destructor Documentation

template<typename T >

roboptim::trajectory::FreeTimeTrajectory< T >::FreeTimeTrajectory	(	const fixedTimeTrajectory_t &	traj,
		value_type	s
	)

Constructor with fixed definition interval trajectory.

Parameters:

traj	trajectory defining this one by reparameterization
s	time scale

template<typename T >

roboptim::trajectory::FreeTimeTrajectory< T >::FreeTimeTrajectory ( const self_t & traj )

template<typename T >

roboptim::trajectory::FreeTimeTrajectory< T >::~FreeTimeTrajectory ( ) [virtual]

Member Function Documentation

template<typename T >

FreeTimeTrajectory< T >::vector_t roboptim::trajectory::FreeTimeTrajectory< T >::derivAfterSingularPoint	(	size_type	rank,
		size_type	order
	)		const `[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.

Implements roboptim::trajectory::Trajectory< T::derivabilityOrder >.

template<typename T >

FreeTimeTrajectory< T >::vector_t roboptim::trajectory::FreeTimeTrajectory< T >::derivBeforeSingularPoint	(	size_type	rank,
		size_type	order
	)		const `[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.

Implements roboptim::trajectory::Trajectory< T::derivabilityOrder >.

template<typename T >

const fixedTimeTrajectory_t& roboptim::trajectory::FreeTimeTrajectory< T >::getFixedTimeTrajectory ( ) const [inline]

template<typename T >

size_type roboptim::trajectory::FreeTimeTrajectory< T >::getTimeScalingIndex ( ) const [inline]

template<typename T >

void roboptim::trajectory::FreeTimeTrajectory< T >::impl_compute	(	result_ref	res,
		double	t
	)		const `[protected]`

ROBOPTIM_DO_NOT_CHECK_ALLOCATION

template<typename T >

void roboptim::trajectory::FreeTimeTrajectory< T >::impl_derivative	(	gradient_ref	g,
		double	x,
		size_type	order
	)		const `[protected]`

ROBOPTIM_DO_NOT_CHECK_ALLOCATION

template<typename T >

void roboptim::trajectory::FreeTimeTrajectory< T >::impl_derivative	(	gradient_ref	g,
		StableTimePoint	stp,
		size_type	order
	)		const `[protected, virtual]`

ROBOPTIM_DO_NOT_CHECK_ALLOCATION

Implements roboptim::trajectory::Trajectory< T::derivabilityOrder >.

template<typename T >

fixedTimeTrajectory_t* roboptim::trajectory::FreeTimeTrajectory< T >::makeFixedTimeTrajectory ( ) const [inline]

References roboptim::trajectory::Trajectory< T::derivabilityOrder >::timeRange().

template<typename T >

void roboptim::trajectory::FreeTimeTrajectory< T >::normalizeAngles ( size_type index ) [virtual]

Normalize angles in parameters array.

Make sure angles are continuous.

Parameters:

index Angles index in parameter array.

Reimplemented from roboptim::trajectory::Trajectory< T::derivabilityOrder >.

template<typename T >

std::ostream & roboptim::trajectory::FreeTimeTrajectory< T >::print ( std::ostream & o ) const [virtual]

Display the function on the specified output stream.

Parameters:

o	output stream used for display

Returns:: output stream

Reimplemented from roboptim::trajectory::Trajectory< T::derivabilityOrder >.

template<typename T >

self_t* roboptim::trajectory::FreeTimeTrajectory< T >::resize ( interval_t timeRange ) const [inline, virtual]

Clone and resize a trajectory.

Implements roboptim::trajectory::Trajectory< T::derivabilityOrder >.

References roboptim::trajectory::FreeTimeTrajectory< T >::scaleTime(), roboptim::trajectory::Trajectory< DerivabilityOrder >::timeRange(), roboptim::trajectory::Trajectory< T::derivabilityOrder >::timeRange(), and roboptim::trajectory::tMax.

template<typename T >

roboptim::trajectory::FreeTimeTrajectory< T >::ROBOPTIM_DIFFERENTIABLE_FUNCTION_FWD_TYPEDEFS_ ( Trajectory< T::derivabilityOrder > )

Parent type and imports.

template<typename T >

double roboptim::trajectory::FreeTimeTrajectory< T >::scaleTime ( double t ) const

Scale input time argument.

Scale input argument with the same factor that the input trajectory:

$t' = t_{min} + \lambda * (t - t_{min})$

where $[t_{min}, t_{max}]$ is the input trajectory time range and

$\lambda$

the scale factor.

Parameters:

t	input time

Returns:: new scaled time

References roboptim::trajectory::detail::fixTime().

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

template<typename T >

void roboptim::trajectory::FreeTimeTrajectory< T >::setParameters ( const vector_t & ) [virtual]

Set parameters.

Parameters:

vector_t parameters.

Exceptions:

std::runtime_error

Reimplemented from roboptim::trajectory::Trajectory< T::derivabilityOrder >.

Examples:: spline-time-optimization.cc.

References roboptim::trajectory::removeScaleFromParameters(), and roboptim::trajectory::detail::unscaleInterval().

template<typename T >

FreeTimeTrajectory< T >::value_type roboptim::trajectory::FreeTimeTrajectory< T >::singularPointAtRank ( size_type rank ) const [virtual]

Get singular point at given rank.

Implements roboptim::trajectory::Trajectory< T::derivabilityOrder >.

template<typename T >

FreeTimeTrajectory< T >::value_type roboptim::trajectory::FreeTimeTrajectory< T >::timeScale ( ) const

Get time scale factor.

Returns:: time scale factor.

template<typename T >

double roboptim::trajectory::FreeTimeTrajectory< T >::unscaleTime ( double t ) const

References roboptim::trajectory::detail::fixTime(), and roboptim::trajectory::tMax.

template<typename T >

FreeTimeTrajectory< T >::jacobian_t roboptim::trajectory::FreeTimeTrajectory< T >::variationConfigWrtParam ( double t ) const [virtual]

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

Parameters:

t	value in the definition interval.

Returns:: Jacobian:
$\frac{\partial\Gamma_{\textbf{p}}(t)}{\partial\textbf{p}}$

Implements roboptim::trajectory::Trajectory< T::derivabilityOrder >.

template<typename T >

FreeTimeTrajectory< T >::jacobian_t roboptim::trajectory::FreeTimeTrajectory< T >::variationConfigWrtParam ( StableTimePoint tp ) const [virtual]

Implements roboptim::trajectory::Trajectory< T::derivabilityOrder >.

template<typename T >

FreeTimeTrajectory< T >::jacobian_t roboptim::trajectory::FreeTimeTrajectory< T >::variationDerivWrtParam	(	double	t,
		size_type	order
	)		const `[virtual]`

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

Parameters:

t	value in the definition interval.
order	order 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< T::derivabilityOrder >.

template<typename T >

FreeTimeTrajectory< T >::jacobian_t roboptim::trajectory::FreeTimeTrajectory< T >::variationDerivWrtParam	(	StableTimePoint	tp,
		size_type	order
	)		const `[virtual]`

Implements roboptim::trajectory::Trajectory< T::derivabilityOrder >.

Public Types

Public Member Functions

Protected Member Functions

Detailed Description

template<typename T> class roboptim::trajectory::FreeTimeTrajectory< T >

Member Typedef Documentation

Constructor & Destructor Documentation

Member Function Documentation

template<typename T>
class roboptim::trajectory::FreeTimeTrajectory< T >